Legacy branch migration

2024-03-12 21:23:47 +02:00
61 changed files with 2656 additions and 2268 deletions
--- a/docs/uDCCD_Controller_R9V1_Schematic.PDF
+++ b/docs/uDCCD_Controller_R9V1_Schematic.PDF
--- a/firmware/devices/analog.c
+++ b/firmware/devices/analog.c
@@ -0,0 +1,120 @@
+/**** Includes ****/
+#include "hal/udccd_hal.h"
+#include "analog.h"
+
+/**** Private variables ****/
+static const uint8_t ICOIL_MUL = 215;
+static const uint8_t ICOIL_DIV = 22;
+static const int16_t ICOIL_OFF = 0;
+static const uint8_t ICOIL_CNT = 1;
+
+static const uint8_t UCOIL_MUL = 20;
+static const uint8_t UCOIL_DIV = 1;
+static const int16_t UCOIL_OFF = 0;
+static const uint8_t UCOIL_CNT = 1;
+
+static const uint8_t UBAT_MUL = 20;
+static const uint8_t UBAT_DIV = 1;
+static const int16_t UBAT_OFF = 0;
+static const uint8_t UBAT_CNT = 1;
+
+static const uint8_t IBAT_MUL = 235;
+static const uint8_t IBAT_DIV = 6;
+static const int16_t IBAT_OFF = 0;
+static const uint8_t IBAT_CNT = 1;
+
+static const uint8_t POT_MUL = 215;
+static const uint8_t POT_DIV = 44;
+static const int16_t POT_OFF = 0;
+static const uint8_t POT_CNT = 1;
+
+static const uint8_t MODE_MUL = 215;
+static const uint8_t MODE_DIV = 44;
+static const int16_t MODE_OFF = 0;
+static const uint8_t MODE_CNT = 1;
+
+
+/**** Private function declarations ****/
+static uint16_t ConvertSIntShort(int32_t in);
+static uint16_t ConvertUintShort(uint32_t in);
+static uint16_t read_ch(adcCh_t ch, uint16_t gnd_raw, uint8_t mul, uint8_t div, int16_t offset, uint8_t samples);
+
+/**** Public function definitions ****/
+void Analog_UpdateAll(analog_t* meas)
+{
+	uint16_t gnd_lvl = HAL_ADC_Read(ADC_GND);
+	
+	meas->hb_currnet     = read_ch(ADC_ICOIL, 0, ICOIL_MUL, ICOIL_DIV, ICOIL_OFF, ICOIL_CNT ); //mA
+	meas->hb_voltage     = read_ch(ADC_UCOIL, 0, UCOIL_MUL, UCOIL_DIV, UCOIL_OFF, UCOIL_CNT ); //mV
+	meas->supply_current = read_ch(ADC_IBAT , 0, IBAT_MUL , IBAT_DIV , IBAT_OFF , IBAT_CNT  ); //mA
+	meas->supply_voltage = read_ch(ADC_UBAT , 0, UBAT_MUL , UBAT_DIV , UBAT_OFF , UBAT_CNT  ); //mV
+	meas->pot_voltage    = read_ch(ADC_POT  , 0, POT_MUL  , POT_DIV  , POT_OFF  , POT_CNT   ); //mV
+	meas->mode_voltage   = read_ch(ADC_MODE , 0, MODE_MUL , MODE_DIV , MODE_OFF , MODE_CNT  ); //mV
+	
+	// Calculate derived measurements
+	// Halfbridge output power
+	uint32_t temp = (uint32_t)meas->hb_currnet * (uint32_t)meas->hb_voltage;
+	temp /= 1000;
+	meas->hb_power = ConvertUintShort(temp);
+	
+	// Halfbridge output resistance
+	if(meas->hb_currnet == 0) meas->hb_resistance = 0xFFFF;
+	else if(meas->hb_voltage == 0) meas->hb_resistance = 0;
+	else
+	{
+		temp = (uint32_t)meas->hb_voltage * 1000;
+		temp /= (uint32_t)meas->hb_currnet;
+		meas->hb_resistance = ConvertUintShort(temp);
+	}
+	
+	// Supply power
+	temp = (uint32_t)meas->supply_current * (uint32_t)meas->supply_voltage;
+	temp /= 1000;
+	meas->supply_power = ConvertUintShort(temp);
+}
+
+static uint16_t read_ch(adcCh_t ch, uint16_t gnd_raw, uint8_t mul, uint8_t div, int16_t offset, uint8_t samples)
+{
+	//Sanity check
+	if(div==0) return 0xFFFF;
+	
+	// Do at least one sample
+	if(samples<1) samples = 1;
+	
+	// Read ADC value
+	int32_t raw = 0;
+	for(uint8_t i=0; i<samples; i++)
+	{
+		raw += (int32_t)HAL_ADC_Read(ch);
+	}
+	
+	// Do average
+	if(samples != 1)
+	{
+		raw /= samples;
+	};
+	
+	// Remove GND level
+	if(gnd_raw)	raw = raw - (int32_t)gnd_raw;
+	
+	// Convert to target units	
+	raw = raw * mul;
+	if(div!=1) raw /= div;
+	raw += offset;
+	
+	return ConvertSIntShort(raw);
+}
+
+static uint16_t ConvertSIntShort(int32_t in)
+{
+	if(in <= 0) return 0;
+	else if(in >= 0x0000FFFF) return 0xFFFF;
+	else return (uint16_t)in;
+}
+
+static uint16_t ConvertUintShort(uint32_t in)
+{
+	if(in == 0) return 0;
+	else if(in >= 0x0000FFFF) return 0xFFFF;
+	else return (uint16_t)in;
+}
--- a/firmware/devices/analog.h
+++ b/firmware/devices/analog.h
@@ -0,0 +1,23 @@
+#ifndef ANALOG_H_
+#define ANALOG_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+/**** Public definitions ****/
+typedef struct {
+	uint16_t hb_currnet;
+	uint16_t hb_voltage;
+	uint16_t hb_power;
+	uint16_t hb_resistance;
+	uint16_t supply_current;
+	uint16_t supply_voltage;
+	uint16_t supply_power;
+	uint16_t pot_voltage;
+	uint16_t mode_voltage;
+} analog_t;
+
+/**** Public function declarations ****/
+void Analog_UpdateAll(analog_t* meas);
+
+#endif /* ANALOG_H_ */
--- a/firmware/devices/common/level.h
+++ b/firmware/devices/common/level.h
@@ -0,0 +1,11 @@
+#ifndef LEVEL_T_H_
+#define LEVEL_T_H_
+
+/**** Public definitions ****/
+typedef enum {
+	HIZ = -1,
+	LOW = 0,
+	HIGH = 1
+} level_t;
+
+#endif /* LEVEL_T_H_ */
--- a/firmware/devices/config.c
+++ b/firmware/devices/config.c
@@ -0,0 +1,24 @@
+/**** Includes ****/
+#include "hal/udccd_hal.h"
+#include "config.h"
+
+/**** Public function definitions ****/
+void Init_HW(void)
+{
+	hwConfig_t hwCfg;
+	hwCfg.adc_clk_prescaler = ADC_DIV2;
+	hwCfg.adc_auto_wake = 1;
+	// 64kHz PWM
+	hwCfg.pwm_timer_prescaler = TIM_DIV1;
+	hwCfg.pwm_timer_top = 0x01FF;
+	// 1.9Hz..62.5kHz Speed input
+	hwCfg.freq_timer_prescaler = TIM_DIV64;
+	// 1kHz systick
+	hwCfg.systick_timer_top = 125;
+	hwCfg.systick_timer_prescaler = TIM_DIV64;
+	// No extra features
+	hwCfg.uart_prescaler = 0;
+	hwCfg.disable_unused = 0;
+	hwCfg.en_watchdog = 0;
+	HAL_Init_Min(&hwCfg);
+}
--- a/firmware/devices/config.h
+++ b/firmware/devices/config.h
@@ -0,0 +1,10 @@
+#ifndef CONFIG_H_
+#define CONFIG_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+/**** Public function declarations ****/
+void Init_HW(void);
+
+#endif /* CONFIG_H_ */
--- a/firmware/devices/filter_iir_lpf.c
+++ b/firmware/devices/filter_iir_lpf.c
@@ -0,0 +1,21 @@
+/**** Includes ****/
+#include "filter_iir_lpf.h"
+
+/**** Private variables ****/
+
+/**** Public function definitions ****/
+uint16_t LPF_Update(uint16_t new, uint16_t last, uint8_t strength)
+{
+	if(strength==0) return new;
+	else if(strength==255) return last;
+	else
+	{
+		uint32_t temp = (uint32_t)last * strength;
+		temp += new * (255-strength);
+		temp /= 255;
+		
+		//Limit to 16bits
+		if(temp > 0x0000FFFF) return 0xFFFF;
+		else return (uint16_t) temp;
+	}
+}
--- a/firmware/devices/filter_iir_lpf.h
+++ b/firmware/devices/filter_iir_lpf.h
@@ -0,0 +1,10 @@
+#ifndef FILTER_IIR_LPF_H_
+#define FILTER_IIR_LPF_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+/**** Public function declarations ****/
+uint16_t LPF_Update(uint16_t new, uint16_t last, uint8_t strength);
+
+#endif /* FILTER_IIR_LPF_H_ */
--- a/firmware/devices/hal/udccd_hal.h
+++ b/firmware/devices/hal/udccd_hal.h
@@ -0,0 +1,102 @@
+#ifndef UDCCD_R8_BSP_H_
+#define UDCCD_R8_BSP_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../common/level.h"
+
+/**** Public definitions ****/
+//ADC definitions
+typedef enum {
+	ADC_ICOIL = 0x00,
+	ADC_UCOIL = 0x01,
+	ADC_UBAT = 0x02,
+	ADC_IBAT = 0x03,	
+	ADC_POT = 0x04,
+	ADC_MODE = 0x05,
+	ADC_TEMP = 0x08,
+	ADC_INTREF = 0x0E,
+	ADC_GND = 0x0F
+} adcCh_t;
+
+typedef enum {
+	ADC_DIV2 = 0x01,
+	ADC_DIV4 = 0x02,
+	ADC_DIV8 = 0x03,
+	ADC_DIV16 = 0x04,
+	ADC_DIV32 = 0x05,
+	ADC_DIV64 = 0x06,
+	ADC_DIV128 = 0x07
+} adcDiv_t;
+
+//Timer definitions
+typedef enum {
+	TIM_DIV1 = 0x01,
+	TIM_DIV8 = 0x02,
+	TIM_DIV64 = 0x03,
+	TIM_DIV256 = 0x04,
+	TIM_DIV1024 = 0x05
+} timerDiv_t;
+
+typedef enum {
+	PWM_COIL = 'A',
+	PWM_LED = 'B'
+} pwmCh_t;
+
+typedef enum {
+	SPEED_1 = 3,
+	SPEED_0 = 4
+} speedCh_t;
+
+typedef struct {
+	adcDiv_t adc_clk_prescaler;
+	uint8_t adc_auto_wake;
+	timerDiv_t pwm_timer_prescaler;
+	uint16_t pwm_timer_top;
+	timerDiv_t freq_timer_prescaler;
+	uint16_t uart_prescaler;
+	uint8_t systick_timer_top;
+	timerDiv_t systick_timer_prescaler;
+	uint8_t disable_unused;
+	uint8_t en_watchdog;
+} hwConfig_t;
+
+/**** Public function declarations ****/
+void HAL_Init_Min(hwConfig_t* hwCfg);
+void HAL_Init_Extra(hwConfig_t* hwCfg);
+
+level_t HAL_ReadLvl_Handbrake(void);
+level_t HAL_ReadLvl_Brake(void);
+level_t HAL_ReadLvl_Dimm(void);
+level_t HAL_ReadLvl_BtnUp(void);
+level_t HAL_ReadLvl_BtnDown(void);
+level_t HAL_ReadLvl_BtnMode(void);
+level_t HAL_ReadLvl_HandbrakePull(void);
+level_t HAL_ReadLvl_CoilLow(void);
+level_t HAL_ReadLvl_CoilHigh(void);
+level_t HAL_ReadLvl_LedsPwm(void);
+level_t HAL_ReadLvl_Speed0(void);
+level_t HAL_ReadLvl_Speed1(void);
+level_t HAL_ReadLvl_SpeedPull(void);
+
+void HAL_SetPull_Handbrake(level_t lvl);
+void HAL_SetPull_Speed(level_t lvl);
+
+void HAL_ADC_Wake(void);
+void HAL_ADC_Sleep(void);
+uint16_t HAL_ADC_Read(adcCh_t ch);
+
+void HAL_Coil_SetLowSide(uint8_t on);
+void HAL_Coil_SetPWM(uint8_t percent);
+void HAL_Coil_SetPWM16b(uint16_t value);
+
+void HAL_LEDS_Set(uint8_t image);
+uint8_t HAL_LEDS_Get(void);
+void HAL_LEDS_SetPWM(uint8_t percent);
+
+void HAL_PWM_Wake(void);
+void HAL_PWM_Sleep(void);
+void HAL_PWM_SetDuty16b(pwmCh_t ch, uint16_t value);
+void HAL_PWM_SetDuty100(pwmCh_t ch, uint8_t percent);
+
+#endif /* UDCCD_R8_BSP_H_ */
--- a/firmware/devices/hal/udccd_r7_hal.c
+++ b/firmware/devices/hal/udccd_r7_hal.c
@@ -0,0 +1,463 @@
+/**** Includes ****/
+#include <avr/io.h>
+#include "udccd_hal.h"
+
+/**** Private variables ****/
+static uint8_t tim0_prescaler = 0x00;
+static uint8_t tim1_prescaler = 0x00;
+static uint8_t tim3_prescaler = 0x00;
+static uint8_t tim4_prescaler = 0x00;
+
+/**** Private function declarations ****/
+static void PWM_SetOCx(pwmCh_t ch, uint16_t value);
+
+/**** Public function definitions ****/
+void HAL_Init_Min(hwConfig_t* hwCfg)
+{
+	// PIN Configuration
+	//DCCD Enable and PWM
+	PORTB &= ~0x03; //Set low
+	DDRB |= 0x03;  //Set as outputs
+	
+	//LED PWM
+	PORTB &= ~0x04;  //Set low
+	DDRB |= 0x04;   //Set as output
+	
+	//UART TX
+	PORTB |= 0x18;  //Set high / pull-up on
+	DDRB |= 0x08;  //Set as output
+	DDRB &= ~0x10;  //Set as input
+	
+	//Handbrake pull-up
+	PORTB |= 0x20;  //Set high
+	DDRB |= 0x20;   //Set as output
+	
+	//Handbrake and Brake inputs
+	PORTB |= 0xC0;  //Pull-up on
+	DDRB &= ~0xC0;  //Set as input
+	
+	// ADC inputs
+	PORTC &= ~0x3F; //Pull-up off
+	DDRC &= ~0x3F;  //Set as inputs
+	
+	// Reset
+	PORTC |= 0x40; //Pull-up on
+	DDRC &= ~0x40;  //Set as input
+	
+	// LED control
+	PORTD &= ~0x3F;  //Set low
+	DDRD |= 0x3F;   //Set as outputs
+	
+	// Speed pull
+	PORTD &= ~0x40;  //Set low
+	DDRD |= 0x40;   //Set as outputs
+	
+	// Dim input
+	PORTD |= 0x80;  //Set pull-up on
+	DDRD &= ~0x80;   //Set as input
+	
+	// Speed inputs
+	PORTE &= ~0x05;  //Set pull-down
+	DDRE |= 0x05;   //Set as output
+	
+	// Up/Down inputs
+	PORTE |= 0x0A;  //Set pull-up on
+	DDRE &= ~0x0A;   //Set as input
+	
+	
+	//ADC configuration
+	PRR0 &= ~0x01; //Enable ADC power
+	DIDR0 |= 0x1F; //Disable digital inputs, ADC0-ADC4
+		
+	ADMUX = 0x40;  //Set AVCC reference, Right adjust
+	ADCSRA = 0x00; //ADC Disabled, Single conversion, no IT
+	ADCSRA |= (uint8_t)hwCfg->adc_clk_prescaler;
+	ADCSRB = 0x00; //no trigger input
+	
+	if(hwCfg->adc_auto_wake) ADCSRA |= 0x80;  //Enable ADC
+	else PRR0 |= 0x01;
+
+
+	//DCCD and LED PWM configuration
+	PRR0 &= ~0x80;  //Enable Timer1 power
+	TCCR1A = 0xF2; //Connect OC1A and OC1B, normal logic
+	TCCR1B = 0x18; //PWM, Phase & Frequency Correct ICR1 top, no clock, WGM:0xE
+	TCCR1C = 0x00;
+	TCNT1 = 0x0000;
+	OCR1A = 0x0000;
+	OCR1B = 0x0000;
+	ICR1 = (hwCfg->pwm_timer_top);
+	TIMSK1 = 0x00;  //No interrupts
+	TIFR1 = 0x00;	//Clear all flags
+	
+	tim1_prescaler = (uint8_t)hwCfg->pwm_timer_prescaler;
+	TCCR1B |= tim1_prescaler;  //Enable timer
+}
+
+void HAL_Init_Extra(hwConfig_t* hwCfg)
+{
+	//Speed 1 input timer configuration
+	PRR1 &= ~0x01;  //Enable Timer3 power
+	TCCR3A = 0x00;  //OCx disconnected, WGM:0x0
+	TCCR3B = 0x80;  //ICP Noise filter, Falling edge, no clock
+	TCCR3C = 0x00;
+	TCNT3 = 0x0000;
+	OCR3A = 0x0000;
+	OCR3B = 0x0000;
+	ICR3 = 0x0000;
+	TIMSK3 = 0x00;
+	//TIMSK3 |= 0x21; //ICP and OVF interrupts
+	TIFR3 = 0x00;	//Clear all flags
+	
+	tim3_prescaler = (uint8_t)hwCfg->freq_timer_prescaler;
+	TCCR3B |=  tim3_prescaler; //Enable timer
+	
+	
+	//Speed 0 input timer configuration
+	PRR1 &= ~0x08;  //Enable Timer4 power
+	TCCR4A = 0x00;  //OCx disconnected, WGM:0x0
+	TCCR4B = 0x80;  //ICP Noise filter, Falling edge, no clock
+	TCCR4C = 0x00;
+	TCNT4 = 0x0000;
+	OCR4A = 0x0000;
+	OCR4B = 0x0000;
+	ICR4 = 0x0000;
+	TIMSK4 = 0x00;
+	//TIMSK4 |= 0x21;	//ICP and OVF interrupts
+	TIFR4 = 0x00;	//Clear all flags
+	
+	tim4_prescaler = (uint8_t)hwCfg->freq_timer_prescaler;
+	TCCR4B |= tim4_prescaler;  //Enable timer
+	
+	
+	//UART1 configuration
+	PRR0 &= 0x10;   //Enable UART1 power
+	UCSR1A = 0x00;  //Clear flags, Single UART speed, Single processor mode
+	UCSR1B = 0x18;  //Enable RX/TX hardware, 8bit char
+	//UCSR1B |= 0xC0; //Enable RX/TX interrupt,
+	UCSR1C = 0x06; ; //async, No parity, 1 stop bit, 8bit char,
+	UBRR1 = hwCfg->uart_prescaler; //UART baud rate select
+	
+	
+	//"Systick" timer configuration
+	PRR0 &= ~0x20; //Enable Timer0 power
+	TCCR0A = 0x02 ;//OC0x not connected, WGM 0x01-CTC OC0A TOP
+	TCCR0B = 0x00; //WGM 0x01-CTC, No clock
+	TIMSK0 = 0x00;
+	//TIMSK0 |= 0x01; //OVF interrupt enabled
+	TCNT0 = 0x00;
+	OCR0A = hwCfg->systick_timer_top;
+	OCR0B= 0x00;
+	TIFR0 = 0x00; //Reset all flags
+	
+	tim0_prescaler = (uint8_t)hwCfg->systick_timer_prescaler;
+	TCCR0B |= tim0_prescaler;
+	
+	
+	//Disabled not used power configuration
+	if(hwCfg->disable_unused)
+	{
+		//Disable power to not used peripherals
+		PRR0 |= 0xC6; //Disable TWI0, TIM2, SPI0, UART0
+		PRR1 |= 0x34; //Disable TWI1, PRTC, SPI1
+	}
+	
+	//Watchdog configuration
+	if(hwCfg->en_watchdog)
+	{
+		//watchdog timer setup
+		WDTCSR |= 0x10; //Change enable
+		WDTCSR |= 0x0D; //System reset mode, 0.5s period.
+		//use special instruction to reset watchdog timer
+	};
+}
+
+
+// Handbrake input
+level_t HAL_ReadLvl_Handbrake(void)
+{
+	if(PINB & 0x40) return HIGH;
+	else return LOW;
+}
+
+// Brakes input
+level_t HAL_ReadLvl_Brake(void)
+{
+	if(PINB & 0x80) return HIGH;
+	else return LOW;
+}
+
+// Dimm input
+level_t HAL_ReadLvl_Dimm(void)
+{
+	if(PIND & 0x80) return HIGH;
+	else return LOW;
+}
+
+// UP button
+level_t HAL_ReadLvl_BtnUp(void)
+{
+	if(PINE & 0x08) return HIGH;
+	else return LOW;
+}
+
+// Down button
+level_t HAL_ReadLvl_BtnDown(void)
+{
+	if(PINE & 0x02) return HIGH;
+	else return LOW;
+}
+
+// Mode button
+level_t HAL_ReadLvl_BtnMode(void)
+{
+	if(PINC & 0x20) return HIGH;
+	else return LOW;
+}
+
+// Handbrake pull
+level_t HAL_ReadLvl_HandbrakePull(void)
+{
+	if(PINB & 0x20) return HIGH;
+	else return LOW;
+}
+
+// Coil driver control low
+level_t HAL_ReadLvl_CoilLow(void)
+{
+	if(PINB & 0x01) return HIGH;
+	else return LOW;
+}
+
+// Coil driver control high
+level_t HAL_ReadLvl_CoilHigh(void)
+{
+	if(PINB & 0x02) return HIGH;
+	else return LOW;
+}
+
+// LED PWM control
+level_t HAL_ReadLvl_LedsPwm(void)
+{
+	if(PINB & 0x04) return HIGH;
+	else return LOW;
+}
+
+// Speed 0 input pin
+level_t HAL_ReadLvl_Speed0(void)
+{
+	if(PINE & 0x04) return HIGH;
+	else return LOW;
+}
+
+// Speed 1 input pin
+level_t HAL_ReadLvl_Speed1(void)
+{
+	if(PINE & 0x01) return HIGH;
+	else return LOW;
+}
+
+// Speed common pull pin
+level_t HAL_ReadLvl_SpeedPull(void)
+{
+	if(PIND & 0x40) return HIGH;
+	else return LOW;
+}
+
+
+// Set handbrake pull-up
+void HAL_SetPull_Handbrake(level_t lvl)
+{
+	switch(lvl)
+	{
+		case HIGH:
+		PORTB |= 0x20;  //Set high
+		DDRB |= 0x20;   //Set as output
+		break;
+		
+		case LOW:
+		PORTB &= ~0x20;  //Set low
+		DDRB |= 0x20;   //Set as output
+		
+		default:
+		DDRB &= ~0x20;   //Set as input
+		PORTB |= 0x20;  //Set high
+		break;
+	}
+}
+
+// Set speed inputs common pull
+void HAL_SetPull_Speed(level_t lvl)
+{
+	switch(lvl)
+	{
+		case HIGH:
+		PORTD |= 0x40;  //Set high
+		break;
+		
+		default:
+		PORTD &= ~0x40;  //Set low
+		break;
+	}
+}
+
+
+// ADC Wake
+void HAL_ADC_Wake(void)
+{
+	//Enable ADC power
+	PRR0 &= ~0x01;
+	//Enable ADC
+	ADCSRA |= 0x80;
+}
+
+// ADC Sleep
+void HAL_ADC_Sleep(void)
+{
+	//wait to finish
+	while(ADCSRA&0x40);
+	//Disable ADC
+	ADCSRA &= ~0x80;
+	//Disable ADC power
+	PRR0 |= 0x01;
+}
+
+// ADC Read
+uint16_t HAL_ADC_Read(adcCh_t ch)
+{
+	//check if ADC is enabled
+	if(!(ADCSRA&0x80)) return 0xFFFF;
+	
+	uint8_t mux = (uint8_t)ch;
+	//Safe guard mux
+	if(mux > 15) return 0xFFFF;
+	// Not available channels
+	if((mux > 8) && (mux<14)) return 0xFFFF;
+	
+	ADMUX &= ~0x0F;
+	ADMUX |= mux;
+	ADCSRA |= 0x40;
+	while(ADCSRA&0x40); //wait to finish
+	return ADC;
+}
+
+
+// Coil Driver Low Side control
+void HAL_Coil_SetLowSide(uint8_t on)
+{
+	if(on) PORTB |= 0x01;
+	else PORTB &= ~0x01;
+}
+
+void HAL_Coil_SetPWM(uint8_t percent)
+{
+	HAL_PWM_SetDuty100(PWM_COIL, percent);
+}
+
+void HAL_Coil_SetPWM16b(uint16_t value)
+{
+	HAL_PWM_SetDuty16b(PWM_COIL, value);
+}
+
+
+// LED Display
+void HAL_LEDS_Set(uint8_t image)
+{
+	//Read current PORTD pin6, pin7
+	uint8_t keep = PORTD & 0xC0;
+	
+	//Safe guard display
+	image &= 0x3F;
+	
+	//Calculate new PORTD
+	keep |= image;
+	
+	//Set PORTD
+	PORTD = keep;
+}
+
+uint8_t HAL_LEDS_Get(void)
+{
+	return (PIND & 0x3F);
+}
+
+void HAL_LEDS_SetPWM(uint8_t percent)
+{
+	HAL_PWM_SetDuty100(PWM_LED, percent);
+}
+
+
+// PWM Direct functions
+void HAL_PWM_Wake(void)
+{
+	//Enable Timer1 power
+	PRR0 &= ~0x80;
+	//Prepare Timer1 settings
+	TCNT1 = 0x0000;
+	OCR1A = 0x0000;
+	OCR1B = 0x0000;
+	//Enable clock
+	TCCR1B |= tim1_prescaler;  //Enable timer
+}
+
+void HAL_PWM_Sleep(void)
+{
+	// Turn off outputs
+	OCR1A = 0x0000;
+	OCR1B = 0x0000;
+	// Force timer to bottom
+	TCNT1 = (ICR1-1);
+	// Wait for outputs to be off
+	while((PINB&0x06)!=0x00) continue;
+	// Disable clock
+	TCCR1B &= ~0x07;
+	// Disable Timer1 power
+	PRR0 |= 0x80;
+}
+
+void HAL_PWM_SetDuty16b(pwmCh_t ch, uint16_t value)
+{
+	value = 0xFFFF - value;
+	
+	uint32_t top = (uint32_t)ICR1;
+	uint32_t temp = (uint32_t)value * top;
+	temp = temp/0x0000FFFF;
+	//Limit temp
+	if(temp>0x0000FFFF) temp = 0x0000FFFF;
+	uint16_t ocrx = (uint16_t) temp;
+	
+	PWM_SetOCx(ch, ocrx);
+}
+
+void HAL_PWM_SetDuty100(pwmCh_t ch, uint8_t percent)
+{
+	if(percent > 100) percent = 100;
+	percent = 100 - percent;
+	
+	uint32_t top = (uint32_t)ICR1;
+	uint32_t temp = (uint32_t)percent * top;
+	temp = temp/100;
+	//Limit temp
+	if(temp>0x0000FFFF) temp = 0x0000FFFF;
+	uint16_t ocrx = (uint16_t) temp;
+	
+	PWM_SetOCx(ch, ocrx);
+}
+
+/**** Private function definitions ****/
+static void PWM_SetOCx(pwmCh_t ch, uint16_t value)
+{
+	switch(ch)
+	{
+		case PWM_COIL:
+		OCR1A = value;
+		return;
+		
+		case PWM_LED:
+		OCR1B = value;
+		return;
+		
+		default:
+		return;
+	}
+}
--- a/firmware/devices/halfbridge.c
+++ b/firmware/devices/halfbridge.c
@@ -0,0 +1,127 @@
+/**** Includes ****/
+#include "hal/udccd_hal.h"
+#include "halfbridge.h"
+
+/**** Private variables ****/
+static const uint16_t min_dc = 3277;  //5%
+static const uint16_t max_dc = 62258; //95%
+
+static uint16_t target = 0;
+static uint8_t low_side_on = 1;
+
+static uint16_t active_dc = 0;
+
+static uint8_t is_en = 0;
+
+/**** Private function declarations ****/
+static uint16_t CalculateDuty16b(uint16_t target, uint16_t supply);
+
+/**** Public function definitions ****/
+void HB_SetTarget(uint16_t voltage)
+{
+	target = voltage;
+}
+
+void HB_SetLowSide(uint8_t on)
+{
+	low_side_on = on;
+}
+
+uint16_t HB_GetTarget(void)
+{
+	return target;
+}
+
+void HB_UpdateOutput(uint16_t supply)
+{
+	uint16_t temp_dc = CalculateDuty16b(target, supply);
+	
+	HB_SetDirect(temp_dc);
+}
+
+void HB_SetDirect(uint16_t duty)
+{
+	/// Limit duty cycle
+	if(duty > max_dc) active_dc = max_dc;
+	else if(duty < min_dc) active_dc = 0;
+	else active_dc = duty;
+	
+	// Set duty cycle
+	if(!is_en) return;
+	HAL_Coil_SetLowSide(low_side_on);
+	HAL_Coil_SetPWM16b(active_dc);
+}
+
+uint8_t HB_IsLowOn(void)
+{
+	if(HAL_ReadLvl_CoilLow() == HIGH) return 1;
+	else return 0;
+}
+
+void HB_Enable(void)
+{
+	// Restore low side
+	if(low_side_on) HAL_Coil_SetLowSide(1);
+	// Restore duty cycle
+	HAL_Coil_SetPWM(active_dc);
+	is_en = 1;
+}
+
+void HB_Disable(void)
+{
+	// Set 0 DC
+	HAL_Coil_SetPWM(0);
+	// Disable low side
+	HAL_Coil_SetLowSide(0);
+	is_en = 0;
+}
+
+uint8_t HB_IsEnabled(void)
+{
+	if(is_en) return 1;
+	else return 0;
+}
+
+int8_t HB_IsOutputMatch(uint16_t fb_output_voltage, uint16_t limit)
+{
+	// No fault if output not enabled
+	if(!is_en) return -1;
+	
+	// Can't check voltage if low side is off
+	if(!low_side_on) return -1;
+	
+	if(target==0)
+	{
+		// Output can be only 0
+		if(fb_output_voltage != 0) return 0;
+		else return 1;
+	};
+	
+	// Calculate upper and lower bounds
+	uint16_t max = target + limit;
+	uint16_t min = target - limit;
+	
+	//Sanity check
+	if(max < target) max = 0xFFFF;
+	if(min > target) min = 0;
+	
+	//Do check
+	if((fb_output_voltage < min)||(fb_output_voltage > max)) return 0;
+	else return 1;
+}
+
+/**** Private function definitions ****/
+static uint16_t CalculateDuty16b(uint16_t target, uint16_t supply)
+{
+	if(target==0) return 0;
+	if(supply==0) return 0;
+	if(target > supply) return 0xFFFF;
+	
+	// Calculate Duty cycle, in 16bit format
+	uint32_t temp = (uint32_t)target * 0x0000FFFF;
+	temp = temp / supply;
+	
+	//Limit output to 16 bits
+	if(temp > 0x0000FFFF) return 0xFFFF;
+	else return (uint16_t)temp;	
+}
--- a/firmware/devices/halfbridge.h
+++ b/firmware/devices/halfbridge.h
@@ -0,0 +1,24 @@
+#ifndef HALFBRIDGE_H_
+#define HALFBRIDGE_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+/**** Public function declarations ****/
+void HB_UpdateOutput(uint16_t supply);
+
+void HB_SetTarget(uint16_t voltage);
+void HB_SetLowSide(uint8_t on);
+
+void HB_SetDirect(uint16_t duty);
+
+void HB_Enable(void);
+void HB_Disable(void);
+
+uint16_t HB_GetTarget(void);
+
+uint8_t HB_IsLowOn(void);
+uint8_t HB_IsEnabled(void);
+int8_t HB_IsOutputMatch(uint16_t fb_output_voltage, uint16_t limit);
+
+#endif /* HALFBRIDGE_H_ */
--- a/firmware/devices/inputs.c
+++ b/firmware/devices/inputs.c
@@ -0,0 +1,82 @@
+/**** Includes ****/
+#include "hal/udccd_hal.h"
+#include "inputs.h"
+
+/**** Private definitions ****/
+
+/**** Private variables ****/
+static const uint8_t def_debounce_lim = 10;
+
+/**** Private function declarations ****/
+static void InitDefaultInput(inCh_t* inp);
+static void ProcessInput(uint8_t read_lvl, inCh_t* inp);
+
+/**** Public function definitions ****/
+void Inputs_DefInit(inputs_t* inputs)
+{
+	InitDefaultInput(&inputs->handbrake);
+	InitDefaultInput(&inputs->brakes);
+	InitDefaultInput(&inputs->dimm);
+	InitDefaultInput(&inputs->up);
+	InitDefaultInput(&inputs->down);
+	InitDefaultInput(&inputs->mode);
+}
+
+void Inputs_UpdateAll(inputs_t* inputs)
+{
+	// Chassis inputs
+	ProcessInput(HAL_ReadLvl_Handbrake(), &inputs->handbrake);
+	ProcessInput(HAL_ReadLvl_Brake(), &inputs->brakes);
+	ProcessInput(HAL_ReadLvl_Dimm(), &inputs->dimm);
+
+	// User inputs
+	ProcessInput(HAL_ReadLvl_BtnUp(), &inputs->up);
+	ProcessInput(HAL_ReadLvl_BtnDown(), &inputs->down);
+	ProcessInput(HAL_ReadLvl_BtnMode(), &inputs->mode);
+}
+
+void Inputs_SetHanbrakePullUp(uint8_t on)
+{
+	if(on) HAL_SetPull_Handbrake(HIGH);
+	else HAL_SetPull_Handbrake(HIZ);
+}
+
+/**** Private function definitions ****/
+static void InitDefaultInput(inCh_t* inp)
+{
+	inp->is_active = 0;
+	inp->is_new = 0;
+	inp->state_timer = 0;
+	inp->cfg.act_level = LOW;
+	inp->cfg.dbnc_treshold = def_debounce_lim;
+	inp->proc.level = LOW;
+	inp->proc.dbnc_counter = 0;
+}
+
+static void ProcessInput(uint8_t read_lvl, inCh_t* inp)
+{
+	if(inp->state_timer < 0xFFFF) inp->state_timer++;
+	
+	if(read_lvl != inp->proc.level)
+	{
+		//Debounce ongoing
+		inp->proc.dbnc_counter++;
+		if(inp->proc.dbnc_counter < inp->cfg.dbnc_treshold) return;
+		
+		//Save level
+		inp->proc.level = read_lvl;
+		//Change state
+		if(inp->proc.level == inp->cfg.act_level) inp->is_active = 1;
+		else inp->is_active = 0;
+		// Update new flag
+		inp->is_new = 1;
+		// Reset state timer
+		inp->state_timer = 0;
+		return;
+	}
+	else
+	{
+		//Debounce failed
+		if(inp->proc.dbnc_counter) inp->proc.dbnc_counter = 0;
+	}
+}
--- a/firmware/devices/inputs.h
+++ b/firmware/devices/inputs.h
@@ -0,0 +1,43 @@
+#ifndef INPUTS_H_
+#define INPUTS_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "common/level.h"
+
+/**** Public definitions ****/
+typedef struct {
+	level_t act_level;
+	uint8_t dbnc_treshold;
+} inChCfg_t;
+
+typedef struct {
+	level_t level;
+	uint8_t dbnc_counter;
+} inChRaw_t;
+
+typedef struct {
+	uint8_t is_active;
+	uint8_t is_new;
+	uint16_t state_timer;
+	inChRaw_t proc;
+	inChCfg_t cfg;
+} inCh_t;
+
+typedef struct {
+	inCh_t handbrake;
+	inCh_t brakes;
+	inCh_t dimm;
+	inCh_t up;
+	inCh_t down;
+	inCh_t mode;
+} inputs_t;
+
+/**** Public function declarations ****/
+void Inputs_DefInit(inputs_t* inputs);
+
+void Inputs_UpdateAll(inputs_t* inputs);
+
+void Inputs_SetHanbrakePullUp(uint8_t on);
+
+#endif /* INPUTS_H_ */
--- a/firmware/devices/led_display.c
+++ b/firmware/devices/led_display.c
@@ -0,0 +1,20 @@
+/**** Includes ****/
+#include "hal/udccd_hal.h"
+#include "led_display.h"
+
+/**** Private variables ****/
+
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+void LED_DSP_ShowImage(uint8_t image)
+{
+	HAL_LEDS_Set(image);
+}
+
+void LED_DSP_SetBrightness(uint8_t percent)
+{
+	HAL_LEDS_SetPWM(percent);
+}
+
+/**** Private function definitions ****/
--- a/firmware/devices/led_display.h
+++ b/firmware/devices/led_display.h
@@ -0,0 +1,13 @@
+#ifndef LED_DISPLAY_H_
+#define LED_DISPLAY_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+/**** Public definitions ****/
+
+/**** Public function declarations ****/
+void LED_DSP_ShowImage(uint8_t image);
+void LED_DSP_SetBrightness(uint8_t percent);
+
+#endif /* LED_DISPLAY_H_ */
--- a/firmware/devices/memory.c
+++ b/firmware/devices/memory.c
@@ -0,0 +1,34 @@
+/**** Includes ****/
+#include <avr/eeprom.h>
+#include "memory.h"
+
+/**** Public function definitions ****/
+uint8_t MEM_Read8b(uint8_t address)
+{
+	return eeprom_read_byte((uint8_t*)address);
+}
+
+uint16_t MEM_Read16b(uint8_t address)
+{
+	return eeprom_read_word((uint8_t*)address);
+}
+
+uint32_t MEM_Read32b(uint8_t address)
+{
+	return eeprom_read_dword((uint8_t*)address);
+}
+
+void MEM_Write8b(uint8_t address, uint8_t value)
+{
+	return eeprom_write_byte((uint8_t*)address, value);
+}
+
+void MEM_Write16b(uint8_t address, uint16_t value)
+{
+	return eeprom_write_word((uint8_t*)address, value);
+}
+
+void MEM_Write32b(uint8_t address, uint32_t value)
+{
+	return eeprom_write_dword((uint8_t*)address, value);
+}
--- a/firmware/devices/memory.h
+++ b/firmware/devices/memory.h
@@ -0,0 +1,16 @@
+#ifndef MEMORY_H_
+#define MEMORY_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+/**** Public function declarations ****/
+uint8_t MEM_Read8b(uint8_t address);
+uint16_t MEM_Read16b(uint8_t address);
+uint32_t MEM_Read32b(uint8_t address);
+
+void MEM_Write8b(uint8_t address, uint8_t value);
+void MEM_Write16b(uint8_t address, uint16_t value);
+void MEM_Write32b(uint8_t address, uint32_t value);
+
+#endif /* MEMORY_H_ */
--- a/firmware/drivers/display.c
+++ b/firmware/drivers/display.c
@@ -0,0 +1,125 @@
+/**** Includes ****/
+#include "display.h"
+
+/**** Private definitions ****/
+
+/**** Private variables ****/
+static uint8_t PWM_DIMM = 50;
+static uint8_t PWM_BRIGTH = 100;
+
+static uint8_t set_image = 0x00;
+
+static uint16_t lock_timer = 0;
+
+/**** Private function declarations ****/
+static uint8_t ImageGen_Dot10(uint8_t percent);
+static uint8_t ImageGen_Dot20(uint8_t percent);
+static uint8_t ImageGen_Bar(uint8_t percent);
+
+/**** Public function definitions ****/
+void Display_CfgBacklight(uint8_t brigth, uint8_t dimm)
+{
+	//Limit values
+	if(brigth>100) brigth = 100;
+	else if(brigth==0) brigth = 1;
+	
+	if(dimm>100) dimm = 100;
+	else if(dimm==0) dimm = 1;
+	
+	//Save values
+	PWM_BRIGTH = brigth;
+	PWM_DIMM = dimm;
+}
+
+void Display_SetImage(uint8_t image)
+{
+	if(lock_timer) return;
+	
+	set_image = image & 0x3F;
+}
+
+void Display_SetPercent(uint8_t value, dspStyle_t style)
+{
+	switch(style)
+	{
+		case BAR:
+		Display_SetImage(ImageGen_Bar(value));
+		break;
+		
+		case DOT10:
+		Display_SetImage(ImageGen_Dot10(value));
+		break;
+		
+		default:
+		Display_SetImage(ImageGen_Dot20(value));
+		break;
+	}
+}
+
+void Display_SetScale(uint16_t value, uint16_t max_value ,dspStyle_t style)
+{
+	//Convert value to percent
+	uint32_t temp = (uint32_t)value *100;
+	temp /= max_value;
+	
+	//Limit value to 100 percent
+	uint8_t percent = 0;
+	if(temp >= 100) percent = 100;
+	else if(temp == 0) percent = 0;
+	else percent = (uint8_t)temp;
+	
+	Display_SetPercent(percent, style);
+}
+
+void Display_SetLock(uint16_t time)
+{
+	lock_timer = time;
+}
+
+void Display_Update(inputs_t* inputs)
+{
+	// Brightness control
+	if(inputs->dimm.is_active) LED_DSP_SetBrightness(PWM_DIMM);
+	else LED_DSP_SetBrightness(PWM_BRIGTH);
+	
+	if(lock_timer) lock_timer--;
+
+	// Set image
+	LED_DSP_ShowImage(set_image);
+}
+
+/**** Private function definitions ****/
+static uint8_t ImageGen_Dot10(uint8_t percent)
+{
+	if(percent<6) return 0x01;
+	else if(percent<16) return 0x03;
+	else if(percent<26) return 0x02;
+	else if(percent<36) return 0x06;
+	else if(percent<46) return 0x04;
+	else if(percent<56) return 0x0C;
+	else if(percent<66) return 0x08;
+	else if(percent<76) return 0x18;
+	else if(percent<86) return 0x10;
+	else if(percent<96) return 0x30;
+	else return 0x20;
+}
+
+static uint8_t ImageGen_Dot20(uint8_t percent)
+{
+	if(percent<11) return 0x01;
+	else if(percent<31) return 0x02;
+	else if(percent<51) return 0x04;
+	else if(percent<71) return 0x08;
+	else if(percent<91) return 0x10;
+	else return 0x20;
+}
+
+static uint8_t ImageGen_Bar(uint8_t percent)
+{
+	if(percent<11) return 0x01;
+	else if(percent<31) return 0x03;
+	else if(percent<51) return 0x07;
+	else if(percent<71) return 0x0F;
+	else if(percent<91) return 0x1F;
+	else return 0x3F;
+}
--- a/firmware/drivers/display.h
+++ b/firmware/drivers/display.h
@@ -0,0 +1,27 @@
+#ifndef DISPLAY_DRV_H_
+#define DISPLAY_DRV_H_
+
+/**** Includes ****/
+#include <avr/io.h>
+#include "../devices/led_display.h"
+#include "../devices/inputs.h"
+
+/**** Public definitions ****/
+typedef enum {
+	DOT20,
+	DOT10,
+	BAR
+} dspStyle_t;
+
+/**** Public function declarations ****/
+void Display_SetImage(uint8_t image);
+void Display_SetPercent(uint8_t value, dspStyle_t style);
+void Display_SetScale(uint16_t value, uint16_t max_value ,dspStyle_t style);
+
+void Display_SetLock(uint16_t time);
+
+void Display_Update(inputs_t* inputs);
+
+void Display_CfgBacklight(uint8_t brigth, uint8_t dimm);
+
+#endif /* DISPLAY_DRV_H_ */
--- a/firmware/drivers/output.c
+++ b/firmware/drivers/output.c
@@ -0,0 +1,341 @@
+/**** Includes ****/
+#include "output.h"
+
+/**** Private definitions ****/
+typedef struct {
+	uint8_t active;
+	uint8_t time;
+} warn_t;
+
+typedef struct {
+	warn_t supply_voltage;
+	warn_t supply_current;
+	warn_t supply_power;
+	warn_t output_voltage;
+	warn_t output_current;
+	warn_t output_power;
+	warn_t output_open;
+	warn_t output_short;
+	warn_t output_mismatch;
+} warnings_t;
+
+typedef struct {
+	uint8_t supply_uvlo;
+	uint8_t supply_ovp;
+	uint8_t supply_ocp;
+	uint8_t supply_opp;
+	uint8_t output_ovp;
+	uint8_t output_ocp;
+	uint8_t output_opp;
+	uint8_t output_open;
+	uint8_t output_short;
+} faults_t;
+
+/**** Private constants ****/
+static const uint16_t LIM_SUPPLY_UVLO =  8000; //mV
+static const uint16_t LIM_SUPPLY_OVP  = 18000; //mV
+static const uint16_t LIM_SUPPLY_OCP  =  7000; //mA
+static const uint16_t LIM_SUPPLY_OPP  = 40000; //mW
+
+static const uint16_t LIM_OUTPUT_OVP = 12000;  //mV
+static const uint16_t LIM_OUTPUT_OCP =  7000;  //mA
+static const uint16_t LIM_OUTPUT_OPP = 40000;  //mW
+
+static const uint16_t LIM_OUTPUT_OPEN = 40000; //mR
+static const uint16_t LIM_OUTPUT_SHORT =  750; //mR
+
+static const uint16_t LIM_OUTPUT_MATCH = 100; //mV
+
+static const uint8_t OCP_WARNING_LIMIT   = 10; //cycles
+static const uint8_t SHORT_WARNING_LIMIT = 50; //cycles
+
+static const uint16_t MAX_OUTPUT_VOLTAGE = 10000; //mV
+static const uint16_t MIN_OUTPUT_VOLTAGE  =  100; //mV
+
+static const uint16_t COOLDOWN_TIME = 5000;
+
+/**** Private variables ****/
+static warnings_t warnings;
+static faults_t faults;
+
+static uint16_t target_output = 0;
+static uint16_t adj_target = 0;
+
+static int32_t hb_volt_sum = 0;
+
+static uint8_t new_target = 1;
+
+static uint8_t steady_state = 0;
+
+static faultState_t fault_state = F_NONE;
+
+static uint16_t cooldown_timer = 0;
+
+static outState_t out_state = O_OFF;
+
+/**** Private function declarations ****/
+static void Process_Warnings(analog_t* meas);
+static uint8_t Process_Faults(void);
+
+static void ProcessWarningTime(warn_t* w);
+static uint8_t isAnyFaultActive(faults_t* f);
+static uint8_t isFaultWarningActive(warnings_t* w, faults_t* f);
+static void ResetFaults(faults_t* f);
+
+/**** Public function definitions ****/
+void Output_Enable(void)
+{
+	ResetFaults(&faults);
+	target_output = 0;
+	out_state = O_ACTIVE;
+	HB_SetTarget(0) ;
+	HB_SetLowSide(1);
+	HB_Enable();
+}
+
+void Output_Update(analog_t* meas)
+{	
+	Process_Warnings(meas);
+	
+	// Convert Warnings to Faults
+	uint8_t active_fault = Process_Faults();
+	
+	/// Ignore faults
+	active_fault = 0;
+	
+	// Determine coil state	
+	switch(out_state)
+	{
+		case O_ACTIVE:
+		if(active_fault)
+		{
+			// Disable output
+			HB_Disable();
+			out_state = O_FAULTED;
+			break;
+		};
+		
+		//Do target adjustment logic
+		if(steady_state >= 10)
+		{
+			//Calculate average HB voltage
+			hb_volt_sum /= 11;
+			
+			// Calculate feedback adjusted HB output
+			int32_t error = hb_volt_sum - (int32_t)target_output;
+			int32_t temp = (int32_t)adj_target - error;
+			// Limit to 16bits
+			if(temp<=0) adj_target = 0;
+			else if(temp >= 0x0000FFFF) adj_target = 0xFFFF;
+			else adj_target = (uint16_t)temp;
+			steady_state = 0;
+			hb_volt_sum = 0;
+		}
+		else
+		{
+			hb_volt_sum += meas->hb_voltage;
+			steady_state++;
+		}
+		
+		// Closed loop or open loop target set
+		if(new_target)
+		{
+			// Set open-loop HB output
+			HB_SetTarget(target_output);
+			adj_target = target_output;
+			steady_state = 0;
+			new_target = 0;
+			hb_volt_sum = 0;
+		}
+		else
+		{
+			HB_SetTarget(adj_target);
+		}
+
+		// Update output
+		HB_UpdateOutput(meas->supply_voltage);
+		break;
+		
+		case O_FAULTED:
+		if(!active_fault)
+		{
+			//Return to normal state
+			HB_Enable();
+			out_state = O_ACTIVE;
+		}
+		break;
+		
+		default:  //OFF
+		if(HB_IsEnabled()) HB_Disable();
+		break;
+	}
+}
+
+void Output_SetTarget(uint16_t voltage)
+{
+	if(voltage > MAX_OUTPUT_VOLTAGE) voltage = MAX_OUTPUT_VOLTAGE;
+	else if((voltage > 0)&&(voltage < MIN_OUTPUT_VOLTAGE)) voltage = MIN_OUTPUT_VOLTAGE;
+	
+	if(voltage != target_output) new_target = 1;
+	target_output = voltage;
+}
+
+outState_t Output_GetOutputState(void)
+{
+	return out_state;
+}
+
+/**** Private function definitions ****/
+static void Process_Warnings(analog_t* meas)
+{
+	// Supply UVLO and OVP
+	if((meas->supply_voltage > LIM_SUPPLY_OVP)||(meas->supply_voltage < LIM_SUPPLY_UVLO)) warnings.supply_voltage.active = 1;
+	else warnings.supply_voltage.active = 0;
+	
+	// Supply OCP
+	if(meas->supply_current > LIM_SUPPLY_OCP) warnings.supply_current.active = 1;
+	else warnings.supply_current.active = 0;
+	
+	// Supply OPP
+	if(meas->supply_power > LIM_SUPPLY_OPP) warnings.supply_power.active = 1;
+	else warnings.supply_power.active = 0;
+	
+	// Halfbridge output conditions
+	// Output Target mismatch
+	if(HB_IsOutputMatch(meas->hb_voltage, LIM_OUTPUT_MATCH) == 0) warnings.output_mismatch.active = 1;
+	else warnings.output_mismatch.active = 0;
+	
+	// Output OCP
+	if((HB_IsLowOn())&&(meas->hb_currnet > LIM_OUTPUT_OCP)) warnings.output_current.active = 1;
+	else warnings.output_current.active = 0;
+	
+	// Output OVP
+	if((HB_IsLowOn())&&(meas->hb_voltage > LIM_OUTPUT_OVP)) warnings.output_voltage.active = 1;
+	else warnings.output_voltage.active = 0;
+	
+	// Output OPP
+	if((HB_IsEnabled())&&(meas->hb_power > LIM_OUTPUT_OPP)) warnings.output_power.active = 1;
+	else warnings.output_power.active = 0;
+	
+	// Output Short
+	if((HB_IsEnabled())&&(meas->hb_resistance < LIM_OUTPUT_SHORT)) warnings.output_short.active = 1;
+	else warnings.output_short.active = 0;
+	
+	// Output Open - Load loss
+	if((HB_IsEnabled())&&(meas->hb_resistance > LIM_OUTPUT_OPEN)) warnings.output_open.active = 1;
+	else warnings.output_open.active = 0;
+	
+	ProcessWarningTime(&warnings.supply_voltage);
+	ProcessWarningTime(&warnings.supply_current);
+	ProcessWarningTime(&warnings.supply_power);
+	ProcessWarningTime(&warnings.output_mismatch);
+	ProcessWarningTime(&warnings.output_voltage);
+	ProcessWarningTime(&warnings.output_current);
+	ProcessWarningTime(&warnings.output_power);
+	ProcessWarningTime(&warnings.output_open);
+	ProcessWarningTime(&warnings.output_short);
+}
+
+static uint8_t Process_Faults(void)
+{
+	// Check warnings to escalate to fault	
+	// Supply OCP
+	if(warnings.supply_current.time > OCP_WARNING_LIMIT) faults.supply_ocp = 1;
+	
+	// Output OCP
+	if(warnings.output_current.time > OCP_WARNING_LIMIT) faults.output_ocp = 1;
+	
+	// Output short
+	if(warnings.output_short.time > SHORT_WARNING_LIMIT) faults.output_short = 1;
+	
+	switch(fault_state)
+	{	
+		case F_ACTIVE:
+		// Check if fault still active
+		if(!isFaultWarningActive(&warnings, &faults))
+		{
+			// Fault cause ended, go to cooldown
+			cooldown_timer = COOLDOWN_TIME;
+			fault_state = F_COOLDOWN;
+		};
+		break;
+		
+		case F_COOLDOWN:
+		// Check if fault reoccurs
+		if(isFaultWarningActive(&warnings, &faults))
+		{
+			fault_state = F_ACTIVE;
+			break;
+		};
+
+		// Wait for cooldown timer, reset fault flags
+		if(cooldown_timer) cooldown_timer--;
+		else
+		{
+			ResetFaults(&faults);
+			fault_state = F_NONE;
+		}
+		break;
+		
+		default: //NONE
+		// Check for new faults
+		if(isAnyFaultActive(&faults))
+		{
+			// Start fault process
+			fault_state = F_ACTIVE;
+		};
+		break;
+	}
+	
+	if(fault_state != F_NONE) return 1;
+	else return 0;
+}
+
+static void ProcessWarningTime(warn_t* w)
+{
+	if((w->active)&&(w->time < 0xFF)) w->time++;
+	else if(w->active == 0) w->time = 0;
+}
+
+static uint8_t isAnyFaultActive(faults_t* f)
+{
+	if(f->supply_uvlo) return 1;
+	if(f->supply_ovp) return 1;
+	if(f->supply_ocp) return 1;
+	if(f->supply_opp) return 1;
+	if(f->output_ovp) return 1;
+	if(f->output_ocp) return 1;
+	if(f->output_opp) return 1;
+	if(f->output_open) return 1;
+	if(f->output_short) return 1;
+	
+	return 0;
+}
+
+static uint8_t isFaultWarningActive(warnings_t* w, faults_t* f)
+{
+	if((f->supply_uvlo)  && (w->supply_voltage.active)) return 1;
+	if((f->supply_ovp)   && (w->supply_voltage.active)) return 1;
+	if((f->supply_ocp)   && (w->supply_current.active)) return 1;
+	if((f->supply_opp)   && (w->supply_power.active)  ) return 1;
+	if((f->output_ovp)   && (w->output_voltage.active)) return 1;
+	if((f->output_ocp)   && (w->output_current.active)) return 1;
+	if((f->output_opp)   && (w->output_power.active)  ) return 1;
+	if((f->output_open)  && (w->output_open.active)   ) return 1;
+	if((f->output_short) && (w->output_short.active)  ) return 1;
+	
+	return 0;
+}
+
+static void ResetFaults(faults_t* f)
+{
+	f->supply_uvlo = 0;
+	f->supply_ovp = 0;
+	f->supply_ocp = 0;
+	f->supply_opp = 0;
+	f->output_ovp = 0;
+	f->output_ocp = 0;
+	f->output_opp = 0;
+	f->output_open = 0;
+	f->output_short = 0;
+}
--- a/firmware/drivers/output.h
+++ b/firmware/drivers/output.h
@@ -0,0 +1,30 @@
+#ifndef OUTPUT_DRV_H_
+#define OUTPUT_DRV_H_
+
+/**** Includes ****/
+#include <avr/io.h>
+#include "../devices/analog.h"
+#include "../devices/halfbridge.h"
+
+/**** Public definitions ****/
+typedef enum {
+	F_NONE,
+	F_ACTIVE,
+	F_COOLDOWN
+} faultState_t;
+
+typedef enum {
+	O_OFF,
+	O_ACTIVE,
+	O_FAULTED
+} outState_t;
+
+/**** Public function declarations ****/
+void Output_Enable(void);
+void Output_Update(analog_t* meas);
+
+void Output_SetTarget(uint16_t voltage);
+
+outState_t Output_GetOutputState(void);
+
+#endif /* OUTPUT_DRV_H_ */
--- a/firmware/logic/coil.c
+++ b/firmware/logic/coil.c
@@ -0,0 +1,127 @@
+/**** Includes ****/
+#include "coil.h"
+
+/**** Private definitions ****/
+
+/**** Private constants ****/
+
+/**** Private variables ****/
+static uint16_t lock_current = 4500; //mA
+static uint16_t min_current = 100; //mA
+static uint16_t target_current = 0; //mA
+static uint8_t new_target = 1;
+
+static uint16_t adj_target_current = 0; //mA
+static uint16_t target_voltage = 0; //mV
+
+static uint8_t act_force = 0;
+
+static uint16_t nominal_resitance = 1500; //mR
+
+static int32_t sum_current = 0;
+static uint8_t sum_cnt = 0;
+
+
+/**** Private function declarations ****/
+static uint16_t UpdateVoltage(uint16_t cur, uint16_t res);
+
+/**** Public function definitions ****/
+void Coil_SetLockCurrent(uint16_t lock_i)
+{
+	lock_current = lock_i;
+}
+
+void Coil_SetTarget_Force(uint8_t force)
+{
+	// Check if worth doing
+	if(force == act_force) return;
+	
+	// Calculate new target current
+	act_force = force;
+	
+	// Check simple answer
+	uint16_t new_current = 0;
+	if(force==0) new_current = 0;
+	else if(force >= 100) new_current = lock_current;
+	else
+	{
+		uint32_t temp = (uint32_t)force * lock_current;
+		temp /= 100;
+		
+		if(temp > 0x0000FFFF) new_current = lock_current;
+		else new_current = (uint16_t) temp;
+	}
+	
+	// Update new target
+	Coil_SetTarget_Current(new_current);
+}
+
+void Coil_SetTarget_Current(uint16_t current)
+{
+	if(current >= lock_current) current = lock_current;
+	else if((current > 0)&&(current <= min_current)) current = min_current;
+	
+	if(current != target_current) new_target = 1;
+	target_current = current;
+}
+
+uint16_t Coil_GetTargetVolatge(void)
+{
+	return target_voltage;
+}
+
+uint16_t Coil_Update(analog_t* meas)
+{
+	// Collect average current
+	sum_current += meas->hb_currnet;
+	sum_cnt++;
+	
+	// Update measurement
+	if(sum_cnt >= 10)
+	{
+		// Calculate average
+		sum_current /= sum_cnt;
+		
+		// Calculate error
+		int32_t error = sum_current - (int32_t)target_current;
+		int32_t temp = (int32_t)adj_target_current - error;
+		
+		// Limit to 16bits
+		if(temp<0) adj_target_current = 0;
+		else if(temp > 0x0000FFFF) adj_target_current = 0xFFFF;
+		else adj_target_current = (uint16_t)temp;
+		sum_cnt = 0;
+		sum_current = 0;
+	};
+	
+	// Closed loop or open loop target set
+	if(new_target)
+	{
+		// Set open-loop HB output
+		target_voltage = UpdateVoltage(target_current, nominal_resitance);
+		adj_target_current = target_current;
+		new_target = 0;
+		sum_cnt = 0;
+		sum_current = 0;
+	}
+	else
+	{
+		target_voltage = UpdateVoltage(adj_target_current, nominal_resitance);
+	}
+	
+	return target_voltage;
+}
+	
+/**** Private function definitions ****/
+static uint16_t UpdateVoltage(uint16_t cur, uint16_t res)
+{
+	// Update settable voltage
+	if(cur==0) return 0;
+	else
+	{
+		uint32_t volt = (uint32_t)cur * res;
+		volt /= 1000;
+		if(volt > 0x0000FFFF) return 0xFFFF;
+		else return (uint16_t)volt;
+	}
+}
--- a/firmware/logic/coil.h
+++ b/firmware/logic/coil.h
@@ -0,0 +1,19 @@
+#ifndef COIL_LOGIC_H_
+#define COIL_LOGIC_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../devices/analog.h"
+
+/**** Public definitions ****/
+
+/**** Public function declarations ****/
+void Coil_SetTarget_Force(uint8_t force);
+void Coil_SetTarget_Current(uint16_t current);
+uint16_t Coil_GetTargetVolatge(void);
+
+uint16_t Coil_Update(analog_t* meas);
+
+void Coil_SetLockCurrent(uint16_t lock_i);
+
+#endif /* COIL_LOGIC_H_ */
--- a/firmware/logic/force.c
+++ b/firmware/logic/force.c
@@ -0,0 +1,186 @@
+/**** Includes ****/
+#include "force.h"
+
+/**** Private definitions ****/
+
+/**** Private constants ****/
+static const int8_t BUTTONS_STEP = 10;
+static const uint16_t BUTTON_HOLD_TIME = 250;
+static const uint16_t MODE_HOLD_TIME = 500;
+
+/**** Private variables ****/
+static inputMode_t input_mode = IM_BUTTONS;
+
+static uint8_t user_force = 0;
+static uint8_t new_user_force = 0;
+
+static brakeMode_t brake_mode = BM_OPEN;
+static uint8_t new_brake_mode = 1;
+
+/**** Private function declarations ****/
+static uint8_t SaturatedAdd(uint8_t base, int8_t delta);
+
+/**** Public function definitions ****/
+inputMode_t Force_GetInputMode(void)
+{
+	return input_mode;
+}
+
+void Force_CfgInputMode(inputMode_t in_mode)
+{
+	input_mode = in_mode;
+}
+
+void Force_SetUserForce(uint8_t force)
+{
+	if(force > 100) force = 100;
+	user_force = force;
+}
+
+void Force_SetBrakeMode(uint8_t bmode)
+{
+	brake_mode = bmode;
+}
+
+uint8_t Force_Update(inputs_t* inputs, analog_t* meas)
+{
+	// Process user inputs
+	if(input_mode==IM_POT)
+	{
+		// Process potentiometer
+		if(meas->pot_voltage <= 500) user_force = 0;
+		else if(meas->pot_voltage >= 4500 ) user_force = 100;
+		else
+		{
+			uint16_t pot_u = meas->pot_voltage;
+			pot_u /= 50;
+			
+			//Limit to 100
+			if(pot_u > 100) user_force = 100;
+			else if(pot_u < 10) user_force = 10;
+			else user_force = (uint8_t)pot_u;
+		}
+	}
+	else
+	{
+		// Process +/- timer
+		if((inputs->down.is_active)&&(inputs->down.state_timer > BUTTON_HOLD_TIME))
+		{
+			inputs->down.is_new = 1;
+			inputs->down.state_timer = 0;
+		};
+		
+		if((inputs->up.is_active)&&(inputs->up.state_timer > BUTTON_HOLD_TIME))
+		{
+			inputs->up.is_new = 1;
+			inputs->up.state_timer = 0;
+		};
+		
+		// Process +/- logic
+		if((inputs->down.is_new)&&(inputs->down.is_active))
+		{
+			user_force = SaturatedAdd(user_force, -1 * BUTTONS_STEP);
+			new_user_force = 1;
+		}
+		else if((inputs->up.is_new)&&(inputs->up.is_active))
+		{
+			user_force = SaturatedAdd(user_force, BUTTONS_STEP);
+			new_user_force = 1;
+		};
+		
+		inputs->down.is_new = 0;
+		inputs->up.is_new = 0;
+	}
+	
+	// Process mode timer
+	if((inputs->mode.is_active)&&(inputs->mode.state_timer > MODE_HOLD_TIME))
+	{
+		inputs->mode.is_new = 1;
+		inputs->mode.state_timer = 0;
+	};
+	
+	// Process mode logic
+	if((inputs->mode.is_new)&&(inputs->mode.is_active))
+	{
+		//Cycle mode
+		switch(brake_mode)
+		{
+			case BM_OPEN:
+			brake_mode = BM_KEEP;
+			break;
+			
+			case BM_KEEP:
+			brake_mode = BM_LOCK;
+			break;
+			
+			case BM_LOCK:
+			brake_mode = BM_OPEN;
+			break;
+			
+			default:
+			brake_mode = BM_OPEN;
+			break;
+		}
+		new_brake_mode = 1;
+	};
+	inputs->mode.is_new = 0;
+	
+	
+	// Determine next target force from inputs
+	if(inputs->handbrake.is_active)
+	{
+		return 0;
+	}
+	else if(inputs->brakes.is_active)
+	{
+		switch(brake_mode)
+		{
+			case BM_LOCK:
+			return 100;
+			
+			case BM_KEEP:
+			return user_force;
+			
+			default:
+			return 0;
+		}
+	}
+	else
+	{
+		return user_force;
+	}
+}
+
+uint8_t Force_IsNewUserForce(void)
+{
+	return new_user_force;
+}
+
+void Force_ResetNewUserForce(void)
+{
+	new_user_force = 0;
+}
+
+brakeMode_t Force_GetBrakeMode(void)
+{
+	return brake_mode;
+}
+
+uint8_t Force_IsNewBrakeMode(void)
+{
+	return new_brake_mode;
+}
+
+void Force_ResetNewBrakeMode(void)
+{
+	new_brake_mode = 0;
+}
+
+/**** Private function definitions ****/
+static uint8_t SaturatedAdd(uint8_t base, int8_t delta)
+{
+	int16_t temp = (int16_t)base + delta;
+	if(temp < 0) return 0;
+	else if(temp >= 100) return 100;
+	else return (uint8_t)temp;
+}
--- a/firmware/logic/force.h
+++ b/firmware/logic/force.h
@@ -0,0 +1,36 @@
+#ifndef FORCE_LOGIC_H_
+#define FORCE_LOGIC_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../devices/analog.h"
+#include "../devices/inputs.h"
+
+/**** Public definitions ****/
+typedef enum {
+	BM_OPEN,
+	BM_KEEP,
+	BM_LOCK
+} brakeMode_t;
+
+typedef enum {
+	IM_BUTTONS,
+	IM_POT
+} inputMode_t;
+
+/**** Public function declarations ****/
+void Force_CfgInputMode(inputMode_t in_mode);
+inputMode_t Force_GetInputMode(void);
+
+uint8_t Force_Update(inputs_t* inputs, analog_t* meas);
+
+void Force_SetBrakeMode(uint8_t bmode);
+brakeMode_t Force_GetBrakeMode(void);
+uint8_t Force_IsNewBrakeMode(void);
+void Force_ResetNewBrakeMode(void);
+
+void Force_SetUserForce(uint8_t force);
+uint8_t Force_IsNewUserForce(void);
+void Force_ResetNewUserForce(void);
+
+#endif /* FORCE_LOGIC_H_ */
--- a/firmware/logic/settings.c
+++ b/firmware/logic/settings.c
@@ -0,0 +1,184 @@
+/**** Includes ****/
+#include "settings.h"
+
+/**** Private definitions ****/
+
+/**** Private constants ****/
+static const uint8_t addr_force = 0x01;
+static const uint8_t addr_bmode = 0x02;
+static const uint8_t addr_inmode = 0x03;
+
+static const uint8_t addr_dsp_bright = 0x04;
+static const uint8_t addr_dsp_dimm = 0x05;
+
+static const uint8_t addr_lock_amps = 0x06;
+
+/**** Private variables ****/
+static uint16_t save_force_timer = 0;
+static uint16_t save_bmode_timer = 0;
+
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+void Setings_Update(uint8_t is_new_force, uint8_t force, uint8_t is_new_bmode, brakeMode_t bmode)
+{
+	if(is_new_force) save_force_timer = 5000;
+	
+	if(is_new_bmode) save_bmode_timer = 5000;
+	
+	if(save_force_timer)
+	{
+		save_force_timer--;
+		if(!save_force_timer)
+		{
+			// Save force setting
+			Setings_SaveForce(force);
+		};
+	};
+	
+	if(save_bmode_timer)
+	{
+		save_bmode_timer--;
+		if(!save_bmode_timer)
+		{
+			// Save mode setting
+			Setings_SaveBrakeMode(bmode);
+		};
+	};
+}
+
+
+void Setings_SaveForce(uint8_t value)
+{
+	MEM_Write8b(addr_force, value);
+}
+
+uint8_t Setings_GetForce(void)
+{
+	uint8_t val = MEM_Read8b(addr_force);
+	if(val > 100) return 0;
+	else return val;
+}
+
+
+void Setings_SaveBrakeMode(brakeMode_t bmode)
+{
+	// Convert and save input mode setting
+	// Convert and save mode setting
+	uint8_t val = 0x00;
+	switch(bmode)
+	{
+		case BM_LOCK:
+		val = 'L';
+		break;
+		
+		case BM_KEEP:
+		val = 'K';
+		break;
+		
+		default:
+		val = 'O';
+		break;
+	}
+	MEM_Write8b(addr_bmode, val);
+}
+
+brakeMode_t Setings_GetBrakeMode(void)
+{
+	// Convert and return mode setting
+	uint8_t val = MEM_Read8b(addr_bmode);
+	switch(val)
+	{
+		case 'L':
+		return BM_LOCK;
+		
+		case 'K':
+		return BM_KEEP;
+		
+		default:
+		return BM_OPEN;
+	}
+}
+
+
+void Setings_SaveInputMode(inputMode_t inmode)
+{
+	// Convert and save input mode setting
+	uint8_t val = 0x00;
+	switch(inmode)
+	{
+		case IM_POT:
+		val = 'P';
+		break;
+		
+		default:
+		val = 'B';
+		break;
+	}
+	MEM_Write8b(addr_inmode, val);
+}
+
+inputMode_t Setings_GetInputMode(void)
+{
+	// Convert and return input mode setting
+	uint8_t val = MEM_Read8b(addr_inmode);
+	switch(val)
+	{
+		case 'P':
+		return IM_POT;
+		
+		default:
+		return IM_BUTTONS;
+	}
+}
+
+
+void Setings_SaveDisplayBrigthLvl(uint8_t value)
+{
+	MEM_Write8b(addr_dsp_bright, value);
+}
+
+uint8_t Setings_GetDisplayBrigthLvl(void)
+{
+	uint8_t val = MEM_Read8b(addr_dsp_bright);
+	if(val > 100) return 100;
+	else return val;
+}
+
+
+void Setings_SaveDisplayDimmLvl(uint8_t value)
+{
+	MEM_Write8b(addr_dsp_dimm, value);
+}
+
+uint8_t Setings_GetDisplayDimmLvl(void)
+{
+	uint8_t val = MEM_Read8b(addr_dsp_dimm);
+	if(val > 100) return 50;
+	else return val;
+}
+
+
+void Setings_SaveLockCurrent(uint16_t value)
+{
+	MEM_Write16b(addr_lock_amps, value);
+}
+
+uint16_t Setings_GetLockCurrent(void)
+{
+	uint16_t val = MEM_Read16b(addr_lock_amps);
+	if(val > 6000) return 4500;
+	else return val;
+}
+
+void Setings_SaveDefault(void)
+{
+	Setings_SaveForce(0);
+	Setings_SaveBrakeMode(BM_OPEN);
+	Setings_SaveInputMode(IM_BUTTONS);
+	Setings_SaveDisplayBrigthLvl(100);
+	Setings_SaveDisplayDimmLvl(50);
+	Setings_SaveLockCurrent(4500);
+}
+
+/**** Private function definitions ****/
--- a/firmware/logic/settings.h
+++ b/firmware/logic/settings.h
@@ -0,0 +1,34 @@
+#ifndef SETTINGS_LOGIC_H_
+#define SETTINGS_LOGIC_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../devices/memory.h"
+#include "force.h"
+
+/**** Public definitions ****/
+
+/**** Public function declarations ****/
+void Setings_Update(uint8_t is_new_force, uint8_t force, uint8_t is_new_bmode, brakeMode_t bmode);
+
+void Setings_SaveForce(uint8_t value);
+uint8_t Setings_GetForce(void);
+
+void Setings_SaveBrakeMode(brakeMode_t bmode);
+brakeMode_t Setings_GetBrakeMode(void);
+
+void Setings_SaveInputMode(inputMode_t inmode);
+inputMode_t Setings_GetInputMode(void);
+
+void Setings_SaveDisplayBrigthLvl(uint8_t value);
+uint8_t Setings_GetDisplayBrigthLvl(void);
+
+void Setings_SaveDisplayDimmLvl(uint8_t value);
+uint8_t Setings_GetDisplayDimmLvl(void);
+
+void Setings_SaveLockCurrent(uint16_t value);
+uint16_t Setings_GetLockCurrent(void);
+
+void Setings_SaveDefault(void);
+
+#endif /* SETTINGS_LOGIC_H_ */
--- a/firmware/main.c
+++ b/firmware/main.c
@@ -0,0 +1,170 @@
+/**** Includes ****/
+#include <stdint.h>
+
+#include "devices/config.h"
+#include "devices/analog.h"
+#include "devices/inputs.h"
+#include "devices/memory.h"
+
+#include "drivers/output.h"
+#include "drivers/display.h"
+
+#include "logic/force.h"
+#include "logic/coil.h"
+#include "logic/settings.h"
+
+/**** Private definitions ****/
+
+/**** Private constants ****/
+
+/**** Private variables ****/
+inputs_t inputs;
+analog_t analog;
+
+/**** Private function declarations ****/
+void Setup(void);
+void GatherData(uint8_t times);
+
+/**** Public function definitions ****/
+int main(void)
+{
+	Setup();
+	
+    while(1)
+    {
+		// Read all inputs
+		GatherData(1);
+		
+		// Process force logic
+		uint8_t force = Force_Update(&inputs, &analog);
+		
+		// Save values
+		uint8_t new_bmode = Force_IsNewBrakeMode();
+		uint8_t new_force = Force_IsNewUserForce();
+		if(Force_GetInputMode()==IM_POT) new_force = 0;
+		Setings_Update(new_force, force, new_bmode, Force_GetBrakeMode());
+		
+		// Set coil current target
+		Coil_SetTarget_Force(force);
+		
+		// Calculate next target voltage
+		uint16_t next_u = Coil_Update(&analog);
+		
+		// Set next output voltage
+		Output_SetTarget(next_u);
+		
+		// Update output
+		Output_Update(&analog);
+		
+		
+		// Display logic
+		if(Output_GetOutputState()==O_FAULTED)
+		{
+			// Show fault code
+			Display_SetLock(0);
+			Display_SetImage(0x33);
+		}
+		else if(Force_IsNewBrakeMode())
+		{
+			Display_SetLock(0);			
+			switch(Force_GetBrakeMode())
+			{
+				case BM_LOCK:
+				Display_SetImage(0x38);
+				break;
+				
+				case BM_KEEP:
+				Display_SetImage(0x1E);
+				break;
+				
+				default:
+				Display_SetImage(0x07);
+				break;
+			}
+			Display_SetLock(1000);
+		}
+		else
+		{
+			Display_SetPercent(force, DOT10);
+		}
+
+		// Update display
+		Display_Update(&inputs);
+		
+		// Reset new flags
+		Force_ResetNewBrakeMode();
+		Force_ResetNewUserForce();
+    }
+	
+	return 0;
+}
+
+/**** Private function definitions ****/
+void Setup(void)
+{
+	// Initialize low level hardware
+	Init_HW();
+	
+	// Prime EEPROM
+	//Setings_SaveDefault();
+	
+	// Configure inputs
+	Inputs_DefInit(&inputs);
+	
+	inputs.handbrake.cfg.act_level = HIGH;
+	inputs.handbrake.cfg.dbnc_treshold = 10;
+	
+	inputs.brakes.cfg.act_level = LOW;
+	inputs.brakes.cfg.dbnc_treshold = 20;
+	
+	inputs.dimm.cfg.act_level = LOW;
+	inputs.dimm.cfg.dbnc_treshold = 20;
+	
+	inputs.up.cfg.act_level = LOW;
+	inputs.up.cfg.dbnc_treshold = 20;
+	
+	inputs.down.cfg.act_level = LOW;
+	inputs.down.cfg.dbnc_treshold = 20;
+	
+	inputs.mode.cfg.act_level = LOW;
+	inputs.mode.cfg.dbnc_treshold = 20;
+	
+	Inputs_SetHanbrakePullUp(0);
+	
+	// Configure display
+	Display_CfgBacklight(100,50);
+	// Show startup display
+	Display_SetImage(0xFF);
+	Display_Update(&inputs);
+	
+	// Configure force logic
+	Force_CfgInputMode(IM_POT); //IM_BUTTONS IM_POT
+	
+	// Restore saved force
+	Force_SetUserForce(Setings_GetForce());
+	
+	// Restore saved brake mode
+	Force_SetBrakeMode(Setings_GetBrakeMode());
+
+	// Prime analog channels
+	GatherData(100);
+	
+	// Show default display
+	Display_SetImage(0x01);
+	Display_Update(&inputs);
+	
+	// Enable output
+	Output_Enable();
+	Output_SetTarget(0);
+}
+
+void GatherData(uint8_t times)
+{
+	do
+	{
+		Analog_UpdateAll(&analog);
+		Inputs_UpdateAll(&inputs);
+		if(times) times--;
+	}
+	while(times);
+}
--- a/firmware/src/board/ain.cpp
+++ b/firmware/src/board/ain.cpp
@@ -1,35 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "mcu/mcu_hal.h"
-#include "ain.h"
-
-using namespace board;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-board::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 board::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 ****/
-
--- a/firmware/src/board/ain.h
+++ b/firmware/src/board/ain.h
@@ -1,37 +0,0 @@
-#ifndef ANALOG_IN_H_
-#define ANALOG_IN_H_
-
-/**** Includes ****/
-#include <stdint.h>
-
-namespace board {
-
-/**** 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_ */
--- a/firmware/src/board/din.cpp
+++ b/firmware/src/board/din.cpp
@@ -1,40 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "mcu/mcu_hal.h"
-#include "din.h"
-
-using namespace board;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-board::DigitalIn::DigitalIn(uint8_t gpio_ch, uint8_t inverted, uint8_t init_value)
-{
-	this->gpio_ch = gpio_ch;
-	this->invert = inverted;
-	
-	if(init_value) this->last_read = DIN_HIGH;
-	else this->last_read = DIN_LOW;
-}
-
-board::DigitalIn::~DigitalIn(void)
-{
-	return;
-}
-
-uint8_t board::DigitalIn::read(void)
-{
-	uint8_t lvl = mcu::gpio_read(this->gpio_ch);
-	
-	if(this->invert) lvl = util::invert(lvl);
-	
-	if(lvl>0) this->last_read = DIN_HIGH;
-	else this->last_read = DIN_LOW;
-	
-	return this->last_read;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/board/din.h
+++ b/firmware/src/board/din.h
@@ -1,35 +0,0 @@
-#ifndef DIGITAL_INPUT_H_
-#define DIGITAL_INPUT_H_
-
-/**** Includes ****/
-#include <stdint.h>
-
-namespace board {
-
-/**** Public definitions ****/
-const uint8_t DIN_LOW  = 0;
-const uint8_t DIN_HIGH = 1;
-
-class DigitalIn
-{
-	protected:
-	uint8_t gpio_ch;
-	uint8_t invert;
-	
-	public:
-	DigitalIn(uint8_t gpio_ch, uint8_t inverted, uint8_t init_value);
-	~DigitalIn(void);
-	
-	uint8_t last_read;
-	
-	uint8_t read(void);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* DIGITAL_INPUT_H_ */
--- a/firmware/src/board/dio.cpp
+++ b/firmware/src/board/dio.cpp
@@ -1,34 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "mcu/mcu_hal.h"
-#include "dio.h"
-
-using namespace board;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-board::DigitalIO::DigitalIO(uint8_t gpio_ch, uint8_t init_value) : DigitalIn(gpio_ch, 0, init_value), DigitalOut(gpio_ch, 0)
-{
-	return;
-}
-
-board::DigitalIO::~DigitalIO(void)
-{
-	this->write(DOUT_HIZ);
-}
-
-uint8_t board::DigitalIO::is_io_match(void)
-{
-	if(this->last_set == DOUT_HIZ) return 1;
-	
-	uint8_t read_lvl = this->read();
-	
-	if(read_lvl == (uint8_t)this->last_set) return 1;
-	else return 0;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/board/dio.h
+++ b/firmware/src/board/dio.h
@@ -1,32 +0,0 @@
-#ifndef DIGITAL_IO_H_
-#define DIGITAL_IO_H_
-
-/**** Includes ****/
-#include <stdint.h>
-#include "din.h"
-#include "dout.h"
-
-namespace board {
-
-/**** Public definitions ****/
-const int8_t DIO_LOW  = 0;
-const int8_t DIO_HIGH = 1;
-const int8_t DIO_HIZ   = -1;
-
-class DigitalIO : public DigitalIn, public DigitalOut
-{
-	public:
-	DigitalIO(uint8_t gpio_ch, uint8_t init_value);
-	~DigitalIO(void);
-	
-	uint8_t is_io_match(void);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* DIGITAL_IO_H_ */
--- a/firmware/src/board/dout.cpp
+++ b/firmware/src/board/dout.cpp
@@ -1,52 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "mcu/mcu_hal.h"
-#include "dout.h"
-
-using namespace board;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-board::DigitalOut::DigitalOut(uint8_t gpio_ch, uint8_t inverted)
-{
-	this->gpio_ch = gpio_ch;
-	this->invert = inverted;
-	this->write(DOUT_HIZ);
-}
-
-board::DigitalOut::~DigitalOut(void)
-{
-	this->write(DOUT_HIZ);
-}
-
-void board::DigitalOut::write(int8_t level)
-{
-	if(level > 0)
-	{
-		this->last_set = DOUT_HIGH;
-		if(this->invert) mcu::gpio_write(this->gpio_ch, mcu::LEVEL_LOW);
-		else mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIGH);
-	}
-	else if(level == 0)
-	{
-		this->last_set = DOUT_LOW;
-		if(this->invert) mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIGH);
-		else mcu::gpio_write(this->gpio_ch, mcu::LEVEL_LOW);
-	}
-	else
-	{
-		this->last_set = DOUT_HIZ;
-		mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIZ);
-	}
-}
-
-int8_t board::DigitalOut::get_set_level(void)
-{
-	return this->last_set;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/board/dout.h
+++ b/firmware/src/board/dout.h
@@ -1,36 +0,0 @@
-#ifndef DIGITAL_OUTPUT_H_
-#define DIGITAL_OUTPUT_H_
-
-/**** Includes ****/
-#include <stdint.h>
-
-namespace board {
-
-/**** Public definitions ****/
-const int8_t DOUT_LOW  = 0;
-const int8_t DOUT_HIGH = 1;
-const int8_t DOUT_HIZ = -1;
-
-class DigitalOut
-{
-	protected:
-	uint8_t gpio_ch;
-	uint8_t invert;
-	int8_t last_set;
-	
-	public:
-	DigitalOut(uint8_t gpio_ch, uint8_t inverted);
-	~DigitalOut(void);
-	
-	void write(int8_t level);
-	int8_t get_set_level(void);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* DIGITAL_OUTPUT_H_ */
--- a/firmware/src/board/halfbridge.cpp
+++ b/firmware/src/board/halfbridge.cpp
@@ -1,68 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "mcu/mcu_hal.h"
-#include "halfbridge.h"
-
-using namespace board;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-board::Hafbridge::Hafbridge(uint8_t hs_pwm_ch, uint8_t ls_gpio_ch, uint8_t max_dc)
-{
-	this->pwm_ch  = hs_pwm_ch;	
-	this->gpio_ch = ls_gpio_ch;
-	
-	if(max_dc>100) this->max_dc = 100;
-	else this->max_dc = max_dc;
-	this->disable();
-}
-
-board::Hafbridge::~Hafbridge(void)
-{
-	this->last_duty = 0;
-	this->disable();
-}
-
-void board::Hafbridge::write(uint8_t duty)
-{
-	// Limit duty
-	if(duty > this->max_dc) duty = this->max_dc;
-	this->last_duty = duty;
-	
-	if(this->enabled == 0) return;
-	
-	// Convert percent to 16b duty cycle
-	uint16_t dc = util::percent_to_16b(duty);
-	// Set PWM
-	mcu::pwm_write(this->pwm_ch, dc);
-}
-
-void board::Hafbridge::enable(void)
-{
-	mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIGH);
-	this->enabled = 1;
-	this->write(this->last_duty);
-}
-
-void board::Hafbridge::disable(void)
-{
-	mcu::pwm_write(this->pwm_ch, 0);
-	mcu::gpio_write(this->gpio_ch, mcu::LEVEL_LOW);
-	this->enabled = 0;
-}
-
-uint8_t board::Hafbridge::get_set_duty(void)
-{
-	return this->last_duty;
-}
-
-uint8_t board::Hafbridge::is_enabled(void)
-{
-	return this->enabled;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/board/halfbridge.h
+++ b/firmware/src/board/halfbridge.h
@@ -1,37 +0,0 @@
-#ifndef HALFBRIDGE_H_
-#define HALFBRIDGE_H_
-
-/**** Includes ****/
-#include <stdint.h>
-
-namespace board {
-
-/**** Public definitions ****/
-class Hafbridge
-{
-	protected:
-	uint8_t pwm_ch;
-	uint8_t gpio_ch;
-	uint8_t last_duty;
-	uint8_t enabled;
-	uint8_t max_dc;
-	
-	public:
-	Hafbridge(uint8_t hs_pwm_ch, uint8_t ls_gpio_ch, uint8_t max_dc);
-	~Hafbridge(void);
-	
-	void write(uint8_t duty);
-	void enable(void);
-	void disable(void);
-	uint8_t get_set_duty(void);
-	uint8_t is_enabled(void);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* HALFBRIDGE_H_ */
--- a/firmware/src/board/mcu/mcu_hal.h
+++ b/firmware/src/board/mcu/mcu_hal.h
@@ -1,125 +0,0 @@
-#ifndef MCU_HAL_H_
-#define MCU_HAL_H_
-
-/**** Includes ****/
-#include <stdint.h>
-
-namespace mcu {
-
-/**** Public definitions ****/
-/*
-GPIO0	Down
-GPIO1	Up
-GPIO2	Mode
-GPIO3	Handbrake
-GPIO4	Brakes
-GPIO5	Dimm
-GPIO6	LED0
-GPIO7	LED1
-GPIO8	LED2
-GPIO9	LED3
-GPIO10	LED4
-GPIO11	LED5
-GPIO12	DCCD Enable
-GPIO13	Handbrake pull
-GPIO14	Speed pull
-GPIO15	DCCD PWM
-GPIO16	LED PWM
-
-ADC0	Output current
-ADC1	Output voltage
-ADC2	Battery current
-ADC3	Battery voltage
-ADC4	Potentiometer
-ADC5	Mode
-ADC8	MCU temperature
-ADC14	MCU internal reference
-ADC15	MCU ground
-*/
-
-const uint8_t GPIO0 = 0;	//PC5 Mode
-const uint8_t GPIO1 = 1;	//PC4 Pot  
-const uint8_t GPIO2 = 2;	//PE1 Down
-const uint8_t GPIO3 = 3;	//PE3 Up
-const uint8_t GPIO4 = 4;	//PD7 Dimm
-const uint8_t GPIO5 = 5;	//PB7 Brakes
-const uint8_t GPIO6 = 6;	//PB6 Handbrake
-const uint8_t GPIO7 = 7;	//PB5 Handbrake pull
-const uint8_t GPIO8 = 8;	//PD6 Speed pull
-const uint8_t GPIO9 = 9;	//PD0 LED0
-const uint8_t GPIO10 = 10;	//PD1 LED1
-const uint8_t GPIO11 = 11;	//PD2 LED2
-const uint8_t GPIO12 = 12;	//PD3 LED3
-const uint8_t GPIO13 = 13;	//PD4 LED4
-const uint8_t GPIO14 = 14;	//PD5 LED5
-const uint8_t GPIO15 = 15;	//PB0 DCCD Enable
-const uint8_t GPIO16 = 16;	//PB1 DCCD PWM
-const uint8_t GPIO17 = 17;	//PB2 LED PWM
-
-const uint8_t LEVEL_LOW  = 0;
-const uint8_t LEVEL_HIGH = 1;
-const int8_t LEVEL_HIZ   = -1;
-
-const uint8_t ADC0 = 0;	//Output current
-const uint8_t ADC1 = 1;	//Output voltage
-const uint8_t ADC2 = 2;	//Battery voltage
-const uint8_t ADC3 = 3;	//Battery current
-const uint8_t ADC4 = 4;	//Potentiometer
-const uint8_t ADC5 = 5;	//Mode
-const uint8_t ADC8 = 8;	//MCU temperature
-const uint8_t ADC14 = 14;	//MCU internal reference
-const uint8_t ADC15 = 15;	//MCU ground
-
-const uint8_t PWM0 = 0;	//DCCD
-const uint8_t PWM1 = 1;	//LED
-
-//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;
-	timerClkDiv_t pwm_clk;
-	uint16_t pwm_top;
-	uint8_t pwm_ch1_en;
-} 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);
-void gpio_write_pull(uint8_t ch, int8_t lvl);
-
-uint16_t adc_read(uint8_t ch);
-
-void pwm_write(uint8_t ch, uint16_t dc);
-uint16_t pwm_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_ */
--- a/firmware/src/board/mcu/mcu_hal_r8.cpp
+++ b/firmware/src/board/mcu/mcu_hal_r8.cpp
@@ -1,464 +0,0 @@
-/**** 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);
-static void pwm_write_ocx(uint8_t ch, uint16_t value);
-static uint16_t pwm_read_ocx(uint8_t ch);
-
-/**** Public function definitions ****/
-void mcu::startup(startupCfg_t* hwCfg)
-{
-	// Fail-safe GPIO init
-	PORTB = 0xF8;  // Set PORTB pull-ups
-	DDRB = 0x00;   // Set all as inputs
-	
-	PORTC = 0x40;  // Set PORTC pull-ups
-	DDRC = 0x00;   // Set all as inputs
-	
-	PORTD = 0x80;  // Set PORTD pull-ups
-	DDRD = 0x00;   // Set all as inputs
-	
-	PORTE = 0x0A;  // Set PORTE pull-ups
-	DDRE = 0x00;   // Set all as inputs
-	
-	// Half-bridge related pins
-	PORTB &= ~0x03; //Set low
-	DDRB |= 0x03;   //Set as output
-	
-	// Common OD PWM pin
-	if(hwCfg->pwm_ch1_en) PORTB &= ~0x04; //Set low
-	else PORTB |= 0x04;                   //Set high
-	DDRB |= 0x04;                         //Set as output
-	
-	// OD control pins
-	PORTD &= ~0x3F; //Set low (off)
-	DDRD |= 0x3F;   //Set as outputs
-	
-	// Handbrake pull-up pin
-	PORTB |= 0x20;  //Set high
-	DDRB |= 0x20;   //Set as output
-	
-	// Handbrake and brakes pins
-	PORTB |= 0xC0;  //Set pull-up on
-	DDRB &= ~0xC0;   //Set as inputs
-	
-	// Dimm
-	PORTD |= 0x80;  //Set pull-up on
-	DDRD &= ~0x80;   //Set as input
-	
-	// Up and Down
-	PORTE |= 0x0A;  //Set pull-up on
-	DDRE &= ~0x0A;   //Set as inputs
-	
-	// Internal ADC inputs
-	PORTC &= ~0x0F; //Pull-up off
-	DDRC &= ~0x0F;  //Set as inputs
-	
-	// Potentiometer & Mode
-	PORTC &= ~0x30; //Pull-up off
-	DDRC &= ~0x30;  //Set as inputs
-	
-	//ADC configuration
-	PRR0 &= ~0x01; //Enable ADC power
-	DIDR0 |= 0x0F; //Disable digital inputs, ADC0-ADC3
-	
-	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
-	
-	//DCCD and LED PWM configuration
-	PRR0 &= ~0x80;  //Enable Timer1 power
-	TCCR1A = 0xC2; //Connect OC1A, inverted mode
-	if(hwCfg->pwm_ch1_en) TCCR1A |= 0x30; //Connect OC1B, inverted mode
-	TCCR1B = 0x18; //PWM, Phase & Frequency Correct ICR1 top, no clock, WGM:0xE
-	TCCR1C = 0x00;
-	TCNT1 = 0x0000;
-	OCR1A = 0xFFFF;
-	OCR1B = 0xFFFF;
-	ICR1 = hwCfg->pwm_top;
-	TIMSK1 = 0x00;  //No interrupts
-	TIFR1 = 0x00;	//Clear all flags
-	
-	uint8_t tim1_prescaler = (uint8_t)hwCfg->pwm_clk;
-	TCCR1B |= tim1_prescaler;  //Enable timer
-}
-
-// 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;
-}
-
-// PWM Timer Interface functions
-void mcu::pwm_write(uint8_t ch, uint16_t dc)
-{
-	dc = 0xFFFF - dc;
-	
-	// Calculate value as % of TOP
-	uint32_t top = (uint32_t)ICR1;
-	uint32_t temp = (uint32_t)dc * top;
-	temp = temp/0x0000FFFF;
-	
-	//Limit temp
-	if(temp>0x0000FFFF) temp = 0x0000FFFF;
-	uint16_t ocrx = (uint16_t)temp;
-	
-	// Write register
-	pwm_write_ocx(ch, ocrx);
-}
-
-uint16_t mcu::pwm_read(uint8_t ch)
-{
-	uint16_t ocrx = pwm_read_ocx(ch);
-	
-	// Check easy answers
-	if(ocrx == 0) return 0;
-	if(ocrx >= ICR1) return 0xFFFF;
-	
-	// Calculate
-	uint32_t top = (uint32_t)ICR1;
-	uint32_t temp = (uint32_t)ocrx * 0xFFFF;
-	temp = temp/top;
-	
-	//Limit temp
-	if(temp>0x0000FFFF) return 0xFFFF;
-	return (uint16_t)temp;
-}
-
-uint8_t mcu::gpio_read(uint8_t ch)
-{
-	switch(ch)
-	{
-		case GPIO0:  // Mode DIN1
-		return gpio_read_level(PINC,0x20);
-		
-		case GPIO1:  // Pot DIN2
-		return gpio_read_level(PINC,0x10);
-		
-		case GPIO2:  // Down DIN3
-		return gpio_read_level(PINE,0x02);
-		
-		case GPIO3:  // Up DIN4
-		return gpio_read_level(PINE,0x08);
-		
-		case GPIO4:  // Dimm DIN5
-		return gpio_read_level(PIND,0x80);
-		
-		case GPIO5:  // Brakes DIN6
-		return gpio_read_level(PINB,0x80);
-		
-		case GPIO6:  // Handbrake DIN7
-		return gpio_read_level(PINB,0x40);
-		
-		case GPIO7:  // Handbrake pull DIN8
-		return gpio_read_level(PINB,0x20);
-		
-		case GPIO8:  // Speed-pull
-		return gpio_read_level(PIND,0x40);
-		
-		case GPIO9:  // LED 0
-		return gpio_read_level(PIND,0x01);
-		
-		case GPIO10:  // LED 1
-		return gpio_read_level(PIND,0x02);
-		
-		case GPIO11:  // LED 2
-		return gpio_read_level(PIND,0x04);
-		
-		case GPIO12:  // LED 3
-		return gpio_read_level(PIND,0x08);
-		
-		case GPIO13:  // LED 4
-		return gpio_read_level(PIND,0x10);
-		
-		case GPIO14:  // LED 5
-		return gpio_read_level(PIND,0x20);
-		
-		case GPIO15:  // DCCD Enable
-		return gpio_read_level(PINB,0x01);	
-		
-		case GPIO16:  // DCCD PWM
-		return gpio_read_level(PINB,0x02);
-		
-		case GPIO17:  // LED PWM
-		return gpio_read_level(PINB,0x04);	
-		
-		default:
-		return 0;
-	}
-}
-
-void mcu::gpio_write(uint8_t ch, int8_t lvl)
-{
-	switch(ch)
-	{		
-		case GPIO0:  // Mode DIN1
-		if(lvl>0)
-		{
-			PORTC |= 0x20;
-			DDRC |= 0x20;
-		}
-		else if(lvl<0)
-		{
-			DDRC &= ~0x20;
-			PORTC &= ~0x20;
-		}
-		else
-		{
-			PORTC &= ~0x20;
-			DDRC |= 0x20;
-		}
-		return;
-		
-		case GPIO1:  // Pot DIN2
-		if(lvl>0)
-		{
-			PORTC |= 0x10;
-			DDRC |= 0x10;
-		}
-		else if(lvl<0)
-		{
-			DDRC &= ~0x10;
-			PORTC &= ~0x10;
-		}
-		else
-		{
-			PORTC &= ~0x10;
-			DDRC |= 0x10;
-		}
-		return;
-		
-		case GPIO2:  // Down DIN3
-		if(lvl>0)
-		{
-			PORTE |= 0x02;
-			DDRE |= 0x02;
-		}
-		else if(lvl<0)
-		{
-			DDRE &= ~0x02;
-			PORTE &= ~0x02;
-		}
-		else
-		{
-			PORTE &= ~0x02;
-			DDRE |= 0x02;
-		}
-		return;
-		
-		case GPIO3:  // Up DIN4
-		if(lvl>0)
-		{
-			PORTE |= 0x08;
-			DDRE |= 0x08;
-		}
-		else if(lvl<0)
-		{
-			DDRE &= ~0x08;
-			PORTE &= ~0x08;
-		}
-		else
-		{
-			PORTE &= ~0x08;
-			DDRE |= 0x08;
-		}
-		return;
-		
-		case GPIO7:  // Handbrake pull DIN
-		if(lvl>0)
-		{
-			PORTB |= 0x20;
-			DDRB |= 0x20;
-		}
-		else if(lvl<0)
-		{
-			DDRB &= ~0x20;
-			PORTB &= ~0x20;
-		}
-		else
-		{
-			PORTB &= ~0x20;
-			DDRB |= 0x20;
-		}
-		return;
-		
-		case GPIO8:  // Speed-pull
-		if(lvl>0) PORTD |= 0x40;
-		else PORTD &= ~0x40;
-		return;
-		
-		case GPIO9:  // LED 0
-		if(lvl>0) PORTD |= 0x01;
-		else PORTD &= ~0x01;
-		return;
-		
-		case GPIO10:  // LED 1
-		if(lvl>0) PORTD |= 0x02;
-		else PORTD &= ~0x02;
-		return;
-		
-		case GPIO11:  // LED 2
-		if(lvl>0) PORTD |= 0x04;
-		else PORTD &= ~0x04;
-		return;
-		
-		case GPIO12:  // LED 3
-		if(lvl>0) PORTD |= 0x08;
-		else PORTD &= ~0x08;
-		return;
-		
-		case GPIO13:  // LED 4
-		if(lvl>0) PORTD |= 0x10;
-		else PORTD &= ~0x10;
-		return;
-		
-		case GPIO14:  // LED 5
-		if(lvl>0) PORTD |= 0x20;
-		else PORTD &= ~0x20;
-		return;
-		
-		case GPIO15:  // DCCD Enable
-		if(lvl>0) PORTB |= 0x01;
-		else PORTB &= ~0x01;
-		return;
-		
-		default:
-		return;
-	}
-}
-
-void mcu::gpio_write_pull(uint8_t ch, int8_t lvl)
-{
-	switch(ch)
-	{
-		case GPIO0:  // Mode DIN1
-		if(lvl>0) PORTC |= 0x20;
-		else PORTC &= ~0x20;
-		return;
-		
-		case GPIO1:  // Pot DIN2
-		if(lvl>0) PORTC |= 0x10;
-		else PORTC &= ~0x10;
-		return;
-		
-		case GPIO2:  // Down DIN3
-		if(lvl>0) PORTE |= 0x02;
-		else PORTE &= ~0x02;
-		return;
-		
-		case GPIO3:  // Up DIN4
-		if(lvl>0) PORTE |= 0x08;
-		else PORTE &= ~0x08;
-		return;
-		
-		case GPIO4:  // Dimm
-		if(lvl>0) PORTD |= 0x80;
-		else PORTD &= ~0x80;
-		return;
-		
-		case GPIO5:  // Brakes
-		if(lvl>0) PORTB |= 0x80;
-		else PORTB &= ~0x80;
-		return;
-		
-		case GPIO6:  // Handbrake
-		if(lvl>0) PORTB |= 0x40;
-		else PORTB &= ~0x40;
-		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;
-}
-
-static void pwm_write_ocx(uint8_t ch, uint16_t value)
-{
-	switch(ch)
-	{
-		case PWM0:
-		OCR1A = value;
-		return;
-		
-		case PWM1:
-		OCR1B = value;
-		return;
-		
-		default:
-		return;
-	}
-}
-
-static uint16_t pwm_read_ocx(uint8_t ch)
-{
-	switch(ch)
-	{
-		case PWM0:
-		return OCR1A;
-		
-		case PWM1:
-		return OCR1B ;
-		
-		default:
-		return 0x0000;
-	}
-}
--- a/firmware/src/board/pwm.cpp
+++ b/firmware/src/board/pwm.cpp
@@ -1,40 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "mcu/mcu_hal.h"
-#include "pwm.h"
-
-using namespace board;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-board::PWMout::PWMout(uint8_t pwm_ch)
-{
-	this->pwm_ch = pwm_ch;
-	this->write(0);
-}
-
-board::PWMout::~PWMout(void)
-{
-	this->write(0);
-}
-
-void board::PWMout::write(uint8_t duty)
-{
-	// Convert percent to 16b duty cycle
-	uint16_t dc = util::percent_to_16b(duty);
-	
-	// Set PWM
-	mcu::pwm_write(this->pwm_ch, dc);
-	this->last_duty = duty;
-}
-
-uint8_t board::PWMout::get_set_duty(void)
-{
-	return this->last_duty;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/board/pwm.h
+++ b/firmware/src/board/pwm.h
@@ -1,31 +0,0 @@
-#ifndef PWM_H_
-#define PWM_H_
-
-/**** Includes ****/
-#include <stdint.h>
-
-namespace board {
-
-/**** Public definitions ****/
-class PWMout
-{
-	protected:
-	uint8_t pwm_ch;
-	uint8_t last_duty;
-	
-	public:
-	PWMout(uint8_t pwm_ch);
-	~PWMout(void);
-	
-	void write(uint8_t duty);
-	uint8_t get_set_duty(void);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* PWM_H_ */
--- a/firmware/src/board/udccd_board.h
+++ b/firmware/src/board/udccd_board.h
@@ -1,44 +0,0 @@
-#ifndef UDCCD_BOARD_H_
-#define UDCCD_BOARD_H_
-
-/**** Includes ****/
-#include <stdint.h>
-
-using namespace board;
-
-/**** Public definitions ****/
-static AnalogIn dccd_i(mcu::ADC0);
-static AnalogIn dccd_u(mcu::ADC1);
-static AnalogIn bat_u(mcu::ADC2);
-static AnalogIn bat_i(mcu::ADC3);
-
-static Hafbridge hbridge(mcu::PWM0, mcu::GPIO15, 95);
-
-static AnalogIn ain1(mcu::ADC5);
-static AnalogIn ain2(mcu::ADC4);
-
-static DigitalIn din1(mcu::GPIO0, 0, board::DIN_HIGH);
-static DigitalIn din2(mcu::GPIO1, 0, board::DIN_HIGH);
-static DigitalIn din3(mcu::GPIO2, 0, board::DIN_HIGH);
-static DigitalIn din4(mcu::GPIO3, 0, board::DIN_HIGH);
-
-static DigitalIn hvdin1(mcu::GPIO4, 1, board::DIN_LOW);
-static DigitalIn hvdin2(mcu::GPIO5, 1, board::DIN_LOW);
-static DigitalIn hvdin3(mcu::GPIO6, 1, board::DIN_LOW); 
-static DigitalIO hvdin3_pull(mcu::GPIO3, board::DIN_HIGH);
-	
-static DigitalOut odout1(mcu::GPIO9,  1);
-static DigitalOut odout2(mcu::GPIO10, 1);
-static DigitalOut odout3(mcu::GPIO11, 1);
-static DigitalOut odout4(mcu::GPIO12, 1);
-static DigitalOut odout5(mcu::GPIO13, 1);
-static DigitalOut odout6(mcu::GPIO14, 1);
-	
-static PWMout od_pwm(mcu::PWM1);
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-#endif /* UDCCD_BOARD_H_ */
--- a/firmware/src/hw/button.cpp
+++ b/firmware/src/hw/button.cpp
@@ -1,85 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "button.h"
-
-using namespace hw;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-hw::Button::Button(board::DigitalIn* din_ch, uint8_t act_lvl, uint8_t dbnc_lim, uint8_t init_state)
-{
-	this->din_ch = din_ch;
-	
-	if(act_lvl) this->act_lvl = board::DIN_HIGH;
-	else this->act_lvl = board::DIN_LOW;
-	
-	this->dbnc_cnter = 0;
-	this->dbnc_lim = dbnc_lim;
-	
-	if(init_state) this->state = BUTTON_ON;
-	else this->state = BUTTON_OFF;
-	
-	this->time = 0;
-	this->is_new = 0;
-}
-
-hw::Button::~Button(void)
-{
-	return;
-}
-
-uint8_t hw::Button::read(void)
-{
-	// Read din level
-	uint8_t lvl = this->din_ch->read();
-	
-	// Increase state counter
-	this->time = util::sat_add(this->time, 1);
-	
-	// Determine next state
-	uint8_t next_state = BUTTON_OFF;
-	if(lvl==this->act_lvl) next_state = BUTTON_ON;
-	
-	// Advance debounce sample counter
-	if(next_state != this->state) this->dbnc_cnter++;
-	else this->dbnc_cnter = 0;
-	
-	// Check for debounce end
-	if(this->dbnc_cnter < this->dbnc_lim) return this->state;
-	
-	// Debounce end. Apply new state.
-	this->state = next_state;
-	this->time = 0;
-	this->is_new = 1;
-	this->dbnc_cnter = 0;
-	
-	return this->state;
-}
-
-uint8_t hw::Button::force_read(void)
-{
-	// Read din level
-	uint8_t lvl = this->din_ch->read();
-	
-	// Cancels active debounce
-	this->dbnc_cnter = 0;
-	
-	// Determine next state
-	uint8_t next_state = BUTTON_OFF;
-	if(lvl==this->act_lvl) next_state = BUTTON_ON;
-	
-	if(next_state != this->state)
-	{
-		this->state = next_state;
-		this->time = 0;
-		this->is_new = 1;
-	};
-	
-	return this->state;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/hw/button.h
+++ b/firmware/src/hw/button.h
@@ -1,41 +0,0 @@
-#ifndef BUTTON_H_
-#define BUTTON_H_
-
-/**** Includes ****/
-#include <stdint.h>
-#include "../board/din.h"
-
-namespace hw {
-
-/**** Public definitions ****/
-const uint8_t BUTTON_OFF  = 0;
-const uint8_t BUTTON_ON = 1;
-
-class Button
-{
-	protected:
-	board::DigitalIn* din_ch;
-	uint8_t act_lvl;
-	uint8_t dbnc_cnter;
-	
-	public:
-	Button(board::DigitalIn* din_ch, uint8_t act_lvl, uint8_t dbnc_lim, uint8_t init_state);
-	~Button(void);
-	
-	uint8_t state;
-	uint16_t time;
-	uint8_t dbnc_lim;
-	uint8_t is_new;
-	
-	uint8_t read(void);
-	uint8_t force_read(void);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* BUTTON_H_ */
--- a/firmware/src/hw/cv_driver.cpp
+++ b/firmware/src/hw/cv_driver.cpp
@@ -1,40 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "cv_driver.h"
-
-using namespace hw;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-hw::CVdriver::CVdriver(board::AnalogIn* sup_voltage, board::AnalogIn* out_voltage, board::Hafbridge* hbridge)
-{
-	this->sup_voltage = sup_voltage;
-	this->hbridge = hbridge;
-	this->target = 0;
-	this->off = 1;
-}
-
-hw::CVdriver::~CVdriver(void)
-{
-	return;
-}
-
-void hw::CVdriver::update(void)
-{
-	// Update all inputs
-	this->sup_voltage->read();
-	
-	// Calculate ratio
-	uint16_t ratio = util::sat_ratio(this->target, this->sup_voltage->last_read);
-	
-	// Set output
-	this->hbridge->write(ratio);
-}
-
-
-
-/**** Private function definitions ****/
--- a/firmware/src/hw/cv_driver.h
+++ b/firmware/src/hw/cv_driver.h
@@ -1,37 +0,0 @@
-#ifndef CONST_VOLTAGE_DRIVER_H_
-#define CONST_VOLTAGE_DRIVER_H_
-
-/**** Includes ****/
-#include <stdint.h>
-#include "../board/ain.h"
-#include "../board/halfbridge.h"
-
-namespace hw {
-
-/**** Public definitions ****/
-
-class CVdriver
-{
-	protected:
-	board::AnalogIn* sup_voltage;
-	
-	board::Hafbridge* hbridge;
-	
-	public:
-	CVdriver(board::AnalogIn* sup_voltage, board::Hafbridge* hbridge);
-	~CVdriver(void);
-	
-	uint16_t target = 0;
-	uint8_t off = 0;
-	
-	void process(void);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* CONST_VOLTAGE_DRIVER_H_ */
--- a/firmware/src/hw/display_led.cpp
+++ b/firmware/src/hw/display_led.cpp
@@ -1,180 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "display_led.h"
-
-using namespace hw;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-static uint8_t img_gen_dot10(uint8_t percent);
-static uint8_t img_gen_dot20(uint8_t percent);
-static uint8_t img_gen_bar(uint8_t percent);
-
-/**** Public function definitions ****/
-hw::DisplayLed::DisplayLed(board::DigitalOut* led0, board::DigitalOut* led1, board::DigitalOut* led2, board::DigitalOut* led3, board::DigitalOut* led4, board::DigitalOut* led5, board::PWMout* common)
-{
-	this->led0 = led0;
-	this->led1 = led1;
-	this->led2 = led2;
-	this->led3 = led3;
-	this->led4 = led4;
-	this->led5 = led5;
-	this->common = common;
-	
-	this->led0->write(0);
-	this->led1->write(0);
-	this->led2->write(0);
-	this->led3->write(0);
-	this->led4->write(0);
-	this->led5->write(0);
-	this->common->write(0);
-}
-
-hw::DisplayLed::~DisplayLed(void)
-{
-	this->led0->write(0);
-	this->led1->write(0);
-	this->led2->write(0);
-	this->led3->write(0);
-	this->led4->write(0);
-	this->led5->write(0);
-	this->common->write(0);
-}
-
-void hw::DisplayLed::show_percent(uint8_t percent, style_t style)
-{
-	uint8_t image = 0x00;
-	
-	switch(style)
-	{
-		case LED_DSP_BAR:
-		image = img_gen_bar(percent);
-		break;
-		
-		case LED_DSP_DOT10:
-		image = img_gen_dot10(percent);
-		break;
-		
-		default:
-		image = img_gen_dot20(percent);
-		break;
-	}
-	
-	this->write(image);
-}
-
-void hw::DisplayLed::write(uint8_t image)
-{
-	if(image&0x01) this->led0->write(1);
-	else this->led0->write(0);
-	
-	if(image&0x02) this->led1->write(1);
-	else this->led1->write(0);
-	
-	if(image&0x04) this->led2->write(1);
-	else this->led2->write(0);
-	
-	if(image&0x08) this->led3->write(1);
-	else this->led3->write(0);
-	
-	if(image&0x10) this->led4->write(1);
-	else this->led4->write(0);
-	
-	if(image&0x20) this->led5->write(1);
-	else this->led5->write(0);
-}
-
-void hw::DisplayLed::set_brigthness(uint8_t percent)
-{
-	this->common->write(percent);
-}
-
-/**** Private function definitions ****/
-static uint8_t img_gen_dot10(uint8_t percent)
-{
-	switch(percent)
-	{
-		case 0 ... 5:
-		return 0x01;
-		
-		case 6 ... 15:
-		return 0x03;
-		
-		case 16 ... 25:
-		return 0x02;
-		
-		case 26 ... 35:
-		return 0x06;
-		
-		case 36 ... 45:
-		return 0x04;
-		
-		case 46 ... 55:
-		return 0x0C;
-		
-		case 56 ... 65:
-		return 0x08;
-		
-		case 66 ... 75:
-		return 0x18;
-		
-		case 76 ... 85:
-		return 0x10;
-		
-		case 86 ... 95:
-		return 0x30;
-		
-		default:
-		return 0x20;
-	}
-}
-
-static uint8_t img_gen_dot20(uint8_t percent)
-{
-	switch(percent)
-	{
-		case 0 ... 10:
-		return 0x01;
-		
-		case 11 ... 30:
-		return 0x02;
-		
-		case 31 ... 50:
-		return 0x04;
-		
-		case 51 ... 70:
-		return 0x08;
-		
-		case 71 ... 90:
-		return 0x10;
-		
-		default:
-		return 0x20;
-	}
-}
-
-static uint8_t img_gen_bar(uint8_t percent)
-{
-	switch(percent)
-	{
-		case 0 ... 10:
-		return 0x01;
-		
-		case 11 ... 30:
-		return 0x03;
-		
-		case 31 ... 50:
-		return 0x07;
-		
-		case 51 ... 70:
-		return 0x0F;
-		
-		case 71 ... 90:
-		return 0x1F;
-		
-		default:
-		return 0x3F;
-	}
-}
--- a/firmware/src/hw/display_led.h
+++ b/firmware/src/hw/display_led.h
@@ -1,47 +0,0 @@
-#ifndef DISPLAY_LED_H_
-#define DISPLAY_LED_H_
-
-/**** Includes ****/
-#include <stdint.h>
-#include "../board/dout.h"
-#include "../board/pwm.h"
-
-namespace hw {
-
-/**** Public definitions ****/
-
-class DisplayLed
-{
-	protected:
-	board::DigitalOut* led0;
-	board::DigitalOut* led1;
-	board::DigitalOut* led2;
-	board::DigitalOut* led3;
-	board::DigitalOut* led4;
-	board::DigitalOut* led5;
-	board::PWMout* common;
-	
-	public:
-	typedef enum {
-		LED_DSP_DOT20,
-		LED_DSP_DOT10,
-		LED_DSP_BAR
-	} style_t;
-	
-	DisplayLed(board::DigitalOut* led0, board::DigitalOut* led1, board::DigitalOut* led2, board::DigitalOut* led3, board::DigitalOut* led4, board::DigitalOut* led5, board::PWMout* common);
-	~DisplayLed(void);
-	
-	void show_percent(uint8_t percent, style_t style);
-	void write(uint8_t image);
-	
-	void set_brigthness(uint8_t percent);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* DISPLAY_LED_H_ */
--- a/firmware/src/hw/potentiometer.cpp
+++ b/firmware/src/hw/potentiometer.cpp
@@ -1,38 +0,0 @@
-/**** Includes ****/
-#include "../utils/utils.h"
-#include "../utils/interpolate.h"
-#include "potentiometer.h"
-
-using namespace hw;
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-
-/**** Public function definitions ****/
-hw::Potentiometer::Potentiometer(board::AnalogIn* ain_ch, uint16_t low_deadzone, uint16_t high_deadzone)
-{
-	this->ain_ch = ain_ch;
-	this->low_deadzone = low_deadzone;
-	this->high_deadzone = high_deadzone;
-	this->percent = 0;
-}
-
-hw::Potentiometer::~Potentiometer(void)
-{
-	return;
-}
-
-uint8_t hw::Potentiometer::read(void)
-{
-	// Update input
-	this->ain_ch->read();
-	
-	// Calculate percent
-	this->percent = util::interpolate(this->ain_ch->last_read, this->low_deadzone, this->high_deadzone, 0, 100);
-	
-	return this->percent;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/hw/potentiometer.h
+++ b/firmware/src/hw/potentiometer.h
@@ -1,35 +0,0 @@
-#ifndef POTENTIOMETER_H_
-#define POTENTIOMETER_H_
-
-/**** Includes ****/
-#include <stdint.h>
-#include "../board/ain.h"
-
-namespace hw {
-
-/**** Public definitions ****/
-
-class Potentiometer
-{
-	protected:
-	board::AnalogIn* ain_ch;
-	
-	public:
-	Potentiometer(board::AnalogIn* ain_ch, uint16_t low_deadzone, uint16_t high_deadzone);
-	~Potentiometer(void);
-	
-	uint16_t low_deadzone;
-	uint16_t high_deadzone;
-	uint8_t percent;
-	
-	uint8_t read(void);
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* POTENTIOMETER_H_ */
--- a/firmware/src/main.cpp
+++ b/firmware/src/main.cpp
@@ -1,43 +0,0 @@
-/**** Includes ****/
-#include "utils/utils.h"
-
-#include "board/mcu/mcu_hal.h"
-#include "board/ain.h"
-#include "board/din.h"
-#include "board/dout.h"
-#include "board/dio.h"
-#include "board/halfbridge.h"
-#include "board/pwm.h"
-
-#include "hw/button.h"
-#include "hw/potentiometer.h"
-#include "hw/display_led.h"
-
-#include "board/udccd_board.h"
-
-/**** Private definitions ****/
-/**** Private constants ****/
-/**** Private variables ****/
-/**** Private function declarations ****/
-/**** Public function definitions ****/
-int main(void)
-{
-	mcu::startupCfg_t mcu_cfg;
-	mcu_cfg.adc_clk = mcu::ADC_DIV2;
-	mcu_cfg.pwm_clk = mcu::TIM_DIV1;
-	mcu_cfg.pwm_top = 200;
-	mcu_cfg.pwm_ch1_en = 1;
-	
-	mcu::startup(&mcu_cfg);
-
-	// Super loop
-	while(1)
-	{				
-		continue; // End of super loop
-	}
-	
-	// Escape the matrix
-	return 0;
-}
-
-/**** Private function definitions ***/
--- a/firmware/src/uDCCD.cppproj
+++ b/firmware/src/uDCCD.cppproj
@@ -1,248 +0,0 @@
-<?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>uDCCD</AssemblyName>
-    <Name>uDCCD</Name>
-    <RootNamespace>uDCCD</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=" '$(Configuration)' == 'Release' ">
-    <ToolchainSettings>
-      <AvrGccCpp>
-        <avrgcc.common.Device>-mmcu=atmega328pb -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\gcc\dev\atmega328pb"</avrgcc.common.Device>
-        <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
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-    <Compile Include="hw\button.h">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="hw\cv_driver.cpp">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="hw\cv_driver.h">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="hw\display_led.cpp">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="hw\display_led.h">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="hw\potentiometer.cpp">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="hw\potentiometer.h">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="main.cpp">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="utils\interpolate.cpp">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="utils\interpolate.h">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="utils\utils.cpp">
-      <SubType>compile</SubType>
-    </Compile>
-    <Compile Include="utils\utils.h">
-      <SubType>compile</SubType>
-    </Compile>
-  </ItemGroup>
-  <ItemGroup>
-    <Folder Include="board" />
-    <Folder Include="board\mcu" />
-    <Folder Include="hw" />
-    <Folder Include="utils" />
-  </ItemGroup>
-  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
-</Project>
--- a/firmware/src/utils/interpolate.cpp
+++ b/firmware/src/utils/interpolate.cpp
@@ -1,163 +0,0 @@
-/**** 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 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 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 index2d_to_index1d(uint8_t ix, uint8_t iy, uint8_t len_x)
-{
-	return ((uint16_t)len_x * iy) + ix;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/utils/interpolate.h
+++ b/firmware/src/utils/interpolate.h
@@ -1,23 +0,0 @@
-#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_ */
--- a/firmware/src/utils/utils.cpp
+++ b/firmware/src/utils/utils.cpp
@@ -1,137 +0,0 @@
-/**** 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;
-}
-
-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;
-}
-
-/**** Private function definitions ****/
--- a/firmware/src/utils/utils.h
+++ b/firmware/src/utils/utils.h
@@ -1,38 +0,0 @@
-#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);
-
-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);
-
-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_ */
--- a/firmware/uDCCD_Controller.atsln
+++ b/firmware/uDCCD_Controller.atsln
@@ -3,7 +3,7 @@ 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}") = "uDCCD", "uDCCD.cppproj", "{DCE6C7E3-EE26-4D79-826B-08594B9AD897}"
+Project("{54F91283-7BC4-4236-8FF9-10F437C3AD48}") = "uDCCD_Controller", "uDCCD_Controller.cproj", "{DCE6C7E3-EE26-4D79-826B-08594B9AD897}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
--- a/firmware/uDCCD_Controller.componentinfo.xml
+++ b/firmware/uDCCD_Controller.componentinfo.xml
@@ -41,7 +41,7 @@
 					<Attribute>template</Attribute>
 					<Category>source</Category>
 					<Condition>C Exe</Condition>
-					<FileContentHash>KjvOcFWd++tbnsEMfVPd/w==</FileContentHash>
+					<FileContentHash>YLr2MkKo6ZooP7MhARWYNA==</FileContentHash>
 					<FileVersion></FileVersion>
 					<Name>templates/main.c</Name>
 					<SelectString>Main file (.c)</SelectString>
@@ -52,7 +52,7 @@
 					<Attribute>template</Attribute>
 					<Category>source</Category>
 					<Condition>C Exe</Condition>
-					<FileContentHash>w5aB/d0+DbxGZ7yY0aMMjw==</FileContentHash>
+					<FileContentHash>mkKaE95TOoATsuBGv6jmxg==</FileContentHash>
 					<FileVersion></FileVersion>
 					<Name>templates/main.cpp</Name>
 					<SelectString>Main file (.cpp)</SelectString>
--- a/firmware/uDCCD_Controller.cproj
+++ b/firmware/uDCCD_Controller.cproj
@@ -0,0 +1,231 @@
+<?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.C</ToolchainName>
+    <ProjectGuid>dce6c7e3-ee26-4d79-826b-08594b9ad897</ProjectGuid>
+    <avrdevice>ATmega328PB</avrdevice>
+    <avrdeviceseries>none</avrdeviceseries>
+    <OutputType>Executable</OutputType>
+    <Language>C</Language>
+    <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+    <OutputFileExtension>.elf</OutputFileExtension>
+    <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+    <AssemblyName>uDCCD_Controller</AssemblyName>
+    <Name>uDCCD_Controller</Name>
+    <RootNamespace>uDCCD_Controller</RootNamespace>
+    <ToolchainFlavour>Native</ToolchainFlavour>
+    <KeepTimersRunning>true</KeepTimersRunning>
+    <OverrideVtor>false</OverrideVtor>
+    <CacheFlash>true</CacheFlash>
+    <ProgFlashFromRam>true</ProgFlashFromRam>
+    <RamSnippetAddress>0x20000000</RamSnippetAddress>
+    <UncachedRange />
+    <preserveEEPROM>true</preserveEEPROM>
+    <OverrideVtorValue>exception_table</OverrideVtorValue>
+    <BootSegment>2</BootSegment>
+    <ResetRule>0</ResetRule>
+    <eraseonlaunchrule>0</eraseonlaunchrule>
+    <EraseKey />
+    <AsfFrameworkConfig>
+      <framework-data>
+        <options />
+        <configurations />
+        <files />
+        <documentation help="" />
+        <offline-documentation help="" />
+        <dependencies>
+          <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.42.0" />
+        </dependencies>
+      </framework-data>
+    </AsfFrameworkConfig>
+    <avrtool>com.atmel.avrdbg.tool.atmelice</avrtool>
+    <avrtoolserialnumber>J42700001490</avrtoolserialnumber>
+    <avrdeviceexpectedsignature>0x1E9516</avrdeviceexpectedsignature>
+    <com_atmel_avrdbg_tool_atmelice>
+      <ToolOptions>
+        <InterfaceProperties>
+          <IspClock>125000</IspClock>
+        </InterfaceProperties>
+        <InterfaceName>ISP</InterfaceName>
+      </ToolOptions>
+      <ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
+      <ToolNumber>J42700001490</ToolNumber>
+      <ToolName>Atmel-ICE</ToolName>
+    </com_atmel_avrdbg_tool_atmelice>
+    <avrtoolinterface>ISP</avrtoolinterface>
+    <avrtoolinterfaceclock>125000</avrtoolinterfaceclock>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <ToolchainSettings>
+      <AvrGcc>
+        <avrgcc.common.Device>-mmcu=atmega328pb -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\gcc\dev\atmega328pb"</avrgcc.common.Device>
+        <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
+        <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
+        <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
+        <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcc.compiler.symbols.DefSymbols>
+        <avrgcc.compiler.directories.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+          </ListValues>
+        </avrgcc.compiler.directories.IncludePaths>
+        <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
+        <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+        <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+        <avrgcc.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcc.linker.libraries.Libraries>
+        <avrgcc.assembler.general.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+          </ListValues>
+        </avrgcc.assembler.general.IncludePaths>
+      </AvrGcc>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGcc>
+  <avrgcc.common.Device>-mmcu=atmega328pb -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\gcc\dev\atmega328pb"</avrgcc.common.Device>
+  <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
+  <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
+  <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
+  <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+  <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcc.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>DEBUG</Value>
+    </ListValues>
+  </avrgcc.compiler.symbols.DefSymbols>
+  <avrgcc.compiler.directories.IncludePaths>
+    <ListValues>
+      <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+    </ListValues>
+  </avrgcc.compiler.directories.IncludePaths>
+  <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+  <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+  <avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
+  <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+  <avrgcc.linker.libraries.Libraries>
+    <ListValues>
+      <Value>libm</Value>
+    </ListValues>
+  </avrgcc.linker.libraries.Libraries>
+  <avrgcc.assembler.general.IncludePaths>
+    <ListValues>
+      <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+    </ListValues>
+  </avrgcc.assembler.general.IncludePaths>
+  <avrgcc.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcc.assembler.debugging.DebugLevel>
+</AvrGcc>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="devices\analog.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\analog.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\common\level.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\config.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\config.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\led_display.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\led_display.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\filter_iir_lpf.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\filter_iir_lpf.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\halfbridge.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\halfbridge.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\hal\udccd_r7_hal.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\hal\udccd_hal.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\inputs.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\inputs.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\memory.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="devices\memory.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="drivers\display.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="drivers\display.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="drivers\output.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="drivers\output.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\coil.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\coil.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\force.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\force.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\settings.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\settings.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="main.c">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <Folder Include="devices" />
+    <Folder Include="devices\hal" />
+    <Folder Include="devices\common" />
+    <Folder Include="drivers" />
+    <Folder Include="logic" />
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>