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Finished working initial version

Co-authored-by: Andis Zīle <andis.jarganns@gmail.com>
Reviewed-on: #4
Co-authored-by: Andis Zīle <andis.jargans@gmail.com>
Co-committed-by: Andis Zīle <andis.jargans@gmail.com>

.gitignore

@@ -0,0 +1,32 @@
+# Ignore list for Atmel studio files
+# Hidden folder
+.vs/
+
+#Build Directories
+Debug/
+Release/
+
+#Build Results
+*.o
+*.d
+*.eep
+*.elf
+*.hex
+*.map
+*.srec
+
+#User Specific Files
+*.atsuo
+
+# Ignore list for Altium temp files
+History/
+__Previews/
+Status Report.Txt
+Project Outputs for*
+Project Logs for*
+*.PrjPcbStructure
+
+# Ignore list for Generated output files
+*.step
+OUTPUTS/
+

firmware/src/bsp/ain.cpp

@@ -0,0 +1,53 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "ain.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+bsp::AnalogIn::AnalogIn(void)
+{
+	this->is_init_done = 0;
+	return;
+}
+
+bsp::AnalogIn::~AnalogIn(void)
+{
+	return;
+}
+
+void bsp::AnalogIn::init(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;
+	this->is_init_done = 1;
+}
+
+uint8_t bsp::AnalogIn::is_init(void)
+{
+	return this->is_init_done;
+}
+
+uint16_t bsp::AnalogIn::read(void)
+{
+	if(this->is_init_done==0) return 0;
+	
+	//Read ADC
+	uint16_t raw = mcu::adc_read(this->adc_ch);
+	
+	//Convert to mV
+	this->last_read = util::convert_muldivoff(raw, this->mul, this->div, this->offset);
+	
+	return this->last_read;
+}
+
+/**** Private function definitions ****/
+

firmware/src/bsp/ain.h

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

firmware/src/bsp/ain_lpf.cpp

@@ -0,0 +1,56 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "ain_lpf.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+bsp::AnalogInLfp::AnalogInLfp(void)
+{
+	this->is_init_done = 0;
+	return;
+}
+
+bsp::AnalogInLfp::~AnalogInLfp(void)
+{
+	return;
+}
+
+void bsp::AnalogInLfp::init(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->strength = 0;
+	this->last_read = 0;
+	this->last_read_direct = 0;
+	this->is_init_done = 1;
+}
+
+uint16_t bsp::AnalogInLfp::read(void)
+{
+	if(this->is_init_done==0) return 0;
+	
+	//Read ADC
+	uint16_t raw = mcu::adc_read(this->adc_ch);
+	
+	//Convert to mV
+	this->last_read_direct = util::convert_muldivoff(raw, this->mul, this->div, this->offset);
+	
+	// Do filtering
+	uint32_t td0 = ((uint32_t)(255 - this->strength) * this->last_read_direct);
+	uint32_t td1 = ((uint32_t)(this->strength) * this->last_read);
+	uint32_t out = (td0 + td1)/255;
+	
+	this->last_read = util::sat_cast(out);
+	
+	return this->last_read;
+}
+
+/**** Private function definitions ****/

firmware/src/bsp/ain_lpf.h

@@ -0,0 +1,36 @@
+#ifndef ANALOG_IN_LPF_H_
+#define ANALOG_IN_LPF_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "ain.h"
+
+namespace bsp {
+
+/**** Public definitions ****/
+class AnalogInLfp : public AnalogIn
+{	
+	public:
+	// New stuff
+	AnalogInLfp(void);
+	~AnalogInLfp(void);
+	
+	void init(uint8_t adc_ch);
+	uint16_t read(void);
+	
+	uint8_t strength;
+	uint16_t last_read_direct;
+	
+	#ifndef TESTING
+	protected:
+	#endif
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* ANALOG_IN_LPF_H_ */

firmware/src/bsp/board.cpp

@@ -0,0 +1,118 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "board.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+bsp::Board::Board(void)
+{
+	this->is_init_done = 0;
+	return;
+}
+
+bsp::Board::~Board(void)
+{
+	return;
+}
+
+void bsp::Board::init(boardCfg_t* cfg)
+{
+	// Calculate settings
+	
+	// Controller setup
+	mcu::startupCfg_t mcu_cfg;
+	
+	mcu_cfg.adc_clk = mcu::ADC_DIV64; // 8MHz/64=125kHz
+	mcu_cfg.pwm_clk = mcu::TIM_DIV1;  // 8MHz/1 = 8MHz
+	mcu_cfg.pwm_top = 4000/(uint16_t)cfg->pwm_f_khz;
+	mcu_cfg.od_common_is_pwm = cfg->od_common_is_pwm;
+	
+	mcu::startup(&mcu_cfg);
+	
+	// Analog inputs
+	this->out_voltage.init(mcu::ADC_VOUT);
+	this->out_voltage.mul = 20;
+	this->out_voltage.div = 1;
+	this->out_voltage.offset = 0;
+	
+	this->out_current.init(mcu::ADC_IOUT);
+	this->out_current.mul = 215;
+	this->out_current.div = 22;
+	this->out_current.offset = 0;
+	
+	this->battery_voltage.init(mcu::ADC_VBAT);
+	this->battery_voltage.mul = 20;
+	this->battery_voltage.div = 1;
+	this->battery_voltage.offset = 0;
+	
+	this->battery_current.init(mcu::ADC_IBAT);
+	this->battery_current.mul = 235;
+	this->battery_current.div = 6;
+	this->battery_current.offset = 0;
+	
+	this->ain1.init(mcu::ADC_AIN1);
+	this->ain2.init(mcu::ADC_AIN2);
+	
+	// Digital inputs
+	this->din1.init(mcu::GPIO_DIN1, 0);
+	this->din2.init(mcu::GPIO_DIN2, 0);
+	this->din3.init(mcu::GPIO_DIN3, 0);
+	this->din4.init(mcu::GPIO_DIN4, 0);
+	this->hvdin1.init(mcu::GPIO_HVDIN1, 1);
+	this->hvdin2.init(mcu::GPIO_HVDIN2, 1);
+	this->hvdin3.init(mcu::GPIO_HVDIN3, 1);
+	
+	this->hvdin3_pull.init(mcu::GPIO_HVDIN3_PULL, 0);
+	this->freq_pull.init(mcu::GPIO_FREQ_PULL, 0);
+	
+	// Open-drain outputs
+	this->od1.init(mcu::GPIO_OD1, 1);
+	this->od2.init(mcu::GPIO_OD2, 1);
+	this->od3.init(mcu::GPIO_OD3, 1);
+	this->od4.init(mcu::GPIO_OD4, 1);
+	this->od5.init(mcu::GPIO_OD5, 1);
+	this->od6.init(mcu::GPIO_OD6, 1);
+	this->od_pwm.init(mcu::PWM_OD, 100);
+	
+	// PWM driver output
+	this->out_pwm.init(mcu::PWM_OUT, 95);
+	this->out_low.init(mcu::GPIO_OUT_LOW, 0);
+	
+	this->is_init_done = 1;
+}
+
+uint8_t bsp::Board::is_init(void)
+{
+	return this->is_init_done;
+}
+
+void bsp::Board::read(void)
+{
+	if(this->is_init_done==0) return;
+	
+	// Update all analog inputs
+	this->out_voltage.read();
+	this->out_current.read();
+	this->battery_voltage.read();
+	this->battery_current.read();
+	this->ain1.read();
+	this->ain2.read();
+	
+	// Update all digital inputs
+	this->din1.read();
+	this->din2.read();
+	this->din3.read();
+	this->din4.read();
+	this->hvdin1.read();
+	this->hvdin2.read();
+	this->hvdin3.read();
+}
+
+/**** Private function definitions ****/
+

firmware/src/bsp/board.h

@@ -0,0 +1,77 @@
+#ifndef UDCCD_BOARD_H_
+#define UDCCD_BOARD_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+#include "ain.h"
+#include "ain_lpf.h"
+#include "din.h"
+#include "dout.h"
+#include "pwm_out.h"
+#include "memory.h"
+
+namespace bsp {
+
+/**** Public definitions ****/
+class Board
+{	
+	public:
+	typedef struct {
+		uint8_t pwm_f_khz;
+		uint8_t od_common_is_pwm;
+	} boardCfg_t;
+	
+	Board(void);
+	~Board(void);
+	
+	void init(boardCfg_t* cfg);
+	uint8_t is_init(void);
+	
+	AnalogIn out_voltage;
+	AnalogIn out_current;
+	AnalogIn battery_voltage;
+	AnalogIn battery_current;
+	AnalogIn ain1;
+	AnalogIn ain2;
+	
+	DigitalIn din1;
+	DigitalIn din2;
+	DigitalIn din3;
+	DigitalIn din4;
+	DigitalIn hvdin1;
+	DigitalIn hvdin2;
+	DigitalIn hvdin3;
+	
+	DigitalOut hvdin3_pull;	
+	DigitalOut freq_pull;
+	
+	DigitalOut od1;
+	DigitalOut od2;
+	DigitalOut od3;
+	DigitalOut od4;
+	DigitalOut od5;
+	DigitalOut od6;
+	PwmOut od_pwm;
+	
+	PwmOut out_pwm;
+	DigitalOut out_low;
+	
+	Memory nvmem;
+	
+	void read(void);
+
+	#ifndef TESTING
+	protected:
+	#endif
+	uint8_t is_init_done;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* UDCCD_BOARD_H_ */

firmware/src/bsp/din.cpp

@@ -0,0 +1,56 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "din.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+bsp::DigitalIn::DigitalIn(void)
+{
+	this->is_init_done = 0;
+	return;
+}
+
+bsp::DigitalIn::~DigitalIn(void)
+{
+	return;
+}
+
+void bsp::DigitalIn::init(uint8_t gpio_ch, uint8_t inverted)
+{
+	this->gpio_ch = gpio_ch;
+	if(inverted == 0) this->is_inverted = 0;
+	else this->is_inverted = 1;
+	this->last_read = 0;
+	this->is_init_done = 1;
+}
+
+uint8_t bsp::DigitalIn::is_init(void)
+{
+	return this->is_init_done;
+}
+
+uint8_t bsp::DigitalIn::read(void)
+{
+	if(this->is_init_done==0) return 0;
+	
+	// Read GPIO
+	this->last_read = mcu::gpio_read(this->gpio_ch);
+	
+	// Invert if necessary
+	if(this->is_inverted)
+	{
+		if(this->last_read==0) this->last_read = 1;
+		else this->last_read = 0;
+	};
+	
+	return this->last_read;
+}
+
+/**** Private function definitions ****/
+

firmware/src/bsp/din.h

@@ -0,0 +1,38 @@
+#ifndef DIGITAL_IN_H_
+#define DIGITAL_IN_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace bsp {
+
+/**** Public definitions ****/
+class DigitalIn
+{	
+	public:
+	DigitalIn(void);
+	~DigitalIn(void);
+	
+	void init(uint8_t gpio_ch, uint8_t inverted);
+	uint8_t is_init(void);
+	
+	uint8_t last_read;
+	
+	uint8_t read(void);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+	uint8_t gpio_ch;
+	uint8_t is_inverted;
+	uint8_t is_init_done;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DIGITAL_IN_H_ */

firmware/src/bsp/dout.cpp

@@ -0,0 +1,40 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "dout.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+bsp::DigitalOut::DigitalOut(void)
+{
+	this->is_init_done = 0;
+	return;
+}
+
+bsp::DigitalOut::~DigitalOut(void)
+{
+	return;
+}
+
+void bsp::DigitalOut::write(int8_t level)
+{
+	if(this->is_init_done==0) return;
+	
+	if(this->is_inverted)
+	{
+		if(level==0) level = 1;
+		else if (level > 0) level  = 0;
+	};
+	
+	mcu::gpio_write(this->gpio_ch, level);
+	
+	this->last_writen = level;
+}
+
+/**** Private function definitions ****/
+

firmware/src/bsp/dout.h

@@ -0,0 +1,34 @@
+#ifndef DIGITAL_OUT_H_
+#define DIGITAL_OUT_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "din.h"
+
+namespace bsp {
+
+/**** Public definitions ****/
+class DigitalOut : public DigitalIn
+{	
+	public:
+	// New or redefined stuff
+	DigitalOut(void);
+	~DigitalOut(void);
+	
+	int8_t last_writen;
+	
+	void write(int8_t level);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DIGITAL_OUT_H_ */

firmware/src/bsp/mcu/mcu_hal.h

@@ -0,0 +1,115 @@
+#ifndef MCU_HAL_H_
+#define MCU_HAL_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace mcu {
+
+/**** Public definitions ****/
+/*
+*/
+const uint8_t LEVEL_LOW  = 0;
+const uint8_t LEVEL_HIGH = 1;
+const int8_t  LEVEL_HIZ  = -1;
+
+const uint8_t GPIO_DIN1 = 0;
+const uint8_t GPIO_DIN2 = 1;
+const uint8_t GPIO_DIN3 = 2;
+const uint8_t GPIO_DIN4 = 3;
+const uint8_t GPIO_HVDIN1 = 4;
+const uint8_t GPIO_HVDIN2 = 5;
+const uint8_t GPIO_HVDIN3 = 6;
+const uint8_t GPIO_HVDIN3_PULL = 7;
+const uint8_t GPIO_OD1 = 8;
+const uint8_t GPIO_OD2 = 9;
+const uint8_t GPIO_OD3 = 10;
+const uint8_t GPIO_OD4 = 11;
+const uint8_t GPIO_OD5 = 12;
+const uint8_t GPIO_OD6 = 13;
+const uint8_t GPIO_OUT_LOW = 14;
+const uint8_t GPIO_OUT_HIGH = 15;
+const uint8_t GPIO_OD_PWM = 16;
+const uint8_t GPIO_FREQ1 = 17;
+const uint8_t GPIO_FREQ2 = 18;
+const uint8_t GPIO_FREQ_PULL = 19;
+const uint8_t GPIO_TX = 20;
+const uint8_t GPIO_RX = 21;
+
+const uint8_t ADC_IOUT  = 0;	//Output current
+const uint8_t ADC_VOUT  = 1;	//Output voltage
+const uint8_t ADC_VBAT  = 2;	//Battery voltage
+const uint8_t ADC_IBAT  = 3;	//Battery current
+const uint8_t ADC_AIN2  = 4;	//Potentiometer
+const uint8_t ADC_AIN1  = 5;	//Mode
+const uint8_t ADC_TEMP  = 8;	//MCU temperature
+const uint8_t ADC_IVREF = 14;	//MCU internal reference
+const uint8_t ADC_GND   = 15;	//MCU ground
+
+const uint8_t PWM_OUT = 0;	//DCCD
+const uint8_t PWM_OD  = 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 od_common_is_pwm;
+} startupCfg_t;
+
+/**** Public function declarations ****/
+void startup(startupCfg_t* hwCfg);
+uint8_t is_init(void);
+
+void rtc_set_calibration(uint16_t coef);
+
+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);
+
+void adc_start(uint8_t ch);
+uint8_t adc_is_running(void);
+uint8_t adc_is_new(void);
+uint16_t adc_read(void);
+uint16_t adc_read(uint8_t ch);
+
+void pwm_write(uint8_t ch, uint16_t dc);
+uint16_t pwm_read(uint8_t ch);
+
+void timer_reset(uint8_t ch);
+uint16_t timer_read(uint8_t ch);
+uint16_t timer_read_top(uint8_t ch);
+
+uint32_t timer_convert_us(uint8_t ch, uint16_t raw);
+uint32_t timer_convert_ms(uint8_t ch, uint16_t raw);
+
+uint8_t eeprom_read8b(uint16_t address);
+uint16_t eeprom_read16b(uint16_t address);
+uint32_t eeprom_read32b(uint16_t address);
+
+void eeprom_write8b(uint16_t address, uint8_t value);
+void eeprom_write16b(uint16_t address, uint16_t value);
+void eeprom_write32b(uint16_t address, uint32_t value);
+
+} //namespace
+
+#endif /* MCU_HAL_H_ */

firmware/src/bsp/mcu/mcu_hal_r8.cpp

@@ -0,0 +1,555 @@
+/**** Includes ****/
+#include <avr/io.h>
+#include <avr/eeprom.h>
+#include "mcu_hal.h"
+
+using namespace mcu;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+static const uint8_t def_gpio_read = 0;
+
+/**** Private variables ****/
+static volatile uint16_t rtc_ms = 1000;
+static volatile uint8_t is_init_done = 0;
+
+/**** 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)
+{
+	is_init_done = 0;
+	
+	// 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->od_common_is_pwm) 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
+	
+	// Freq-pull control pins
+	PORTD &= ~0x40; //Set low
+	DDRD |= 0x40;   //Set as output
+	
+	//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->od_common_is_pwm) 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
+	
+	is_init_done = 1;
+}
+
+uint8_t mcu::is_init(void)
+{
+	return is_init_done;
+}
+
+void mcu::rtc_set_calibration(uint16_t coef)
+{
+	rtc_ms = coef;
+}
+
+// GPIO interface functions
+uint8_t mcu::gpio_read(uint8_t ch)
+{
+	if(is_init_done==0) return def_gpio_read;
+	
+	switch(ch)
+	{
+		case GPIO_DIN1:  // Mode DIN1
+		return gpio_read_level(PINC,0x20);
+		
+		case GPIO_DIN2:  // Pot DIN2
+		return gpio_read_level(PINC,0x10);
+		
+		case GPIO_DIN3:  // Down DIN3
+		return gpio_read_level(PINE,0x02);
+		
+		case GPIO_DIN4:  // Up DIN4
+		return gpio_read_level(PINE,0x08);
+		
+		case GPIO_HVDIN1:  // Dimm DIN5
+		return gpio_read_level(PIND,0x80);
+		
+		case GPIO_HVDIN2:  // Brakes DIN6
+		return gpio_read_level(PINB,0x80);
+		
+		case GPIO_HVDIN3:  // Handbrake DIN7
+		return gpio_read_level(PINB,0x40);
+		
+		case GPIO_HVDIN3_PULL:  // Handbrake pull DIN8
+		return gpio_read_level(PINB,0x20);
+		
+		case GPIO_OD1:  // LED 0
+		return gpio_read_level(PIND,0x01);
+		
+		case GPIO_OD2:  // LED 1
+		return gpio_read_level(PIND,0x02);
+		
+		case GPIO_OD3:  // LED 2
+		return gpio_read_level(PIND,0x04);
+		
+		case GPIO_OD4:  // LED 3
+		return gpio_read_level(PIND,0x08);
+		
+		case GPIO_OD5:  // LED 4
+		return gpio_read_level(PIND,0x10);
+		
+		case GPIO_OD6:  // LED 5
+		return gpio_read_level(PIND,0x20);
+		
+		case GPIO_OUT_LOW:  // DCCD Enable
+		return gpio_read_level(PINB,0x01);	
+		
+		case GPIO_OUT_HIGH:  // DCCD PWM
+		return gpio_read_level(PINB,0x02);
+		
+		case GPIO_OD_PWM:  // LED PWM
+		return gpio_read_level(PINB,0x04);
+		
+		case GPIO_FREQ1:  // Speed 1
+		return gpio_read_level(PINE,0x04);
+		
+		case GPIO_FREQ2:  // Speed 2
+		return gpio_read_level(PINE,0x01);
+		
+		case GPIO_FREQ_PULL:  // Speed-pull
+		return gpio_read_level(PIND,0x40);
+		
+		case GPIO_TX:  // 
+		return gpio_read_level(PINB,0x08);
+		
+		case GPIO_RX:  // 
+		return gpio_read_level(PINB,0x10);	
+		
+		default:
+		return def_gpio_read;
+	}
+}
+
+void mcu::gpio_write(uint8_t ch, int8_t lvl)
+{
+	if(is_init_done==0) return;
+	
+	switch(ch)
+	{		
+		case GPIO_DIN1:  // Mode DIN1
+		if(lvl>0)
+		{
+			PORTC |= 0x20;
+			DDRC |= 0x20;
+		}
+		else if(lvl<0)
+		{
+			DDRC &= ~0x20;
+			PORTC &= ~0x20;
+		}
+		else
+		{
+			PORTC &= ~0x20;
+			DDRC |= 0x20;
+		}
+		return;
+		
+		case GPIO_DIN2:  // Pot DIN2
+		if(lvl>0)
+		{
+			PORTC |= 0x10;
+			DDRC |= 0x10;
+		}
+		else if(lvl<0)
+		{
+			DDRC &= ~0x10;
+			PORTC &= ~0x10;
+		}
+		else
+		{
+			PORTC &= ~0x10;
+			DDRC |= 0x10;
+		}
+		return;
+		
+		case GPIO_DIN3:  // Down DIN3
+		if(lvl>0)
+		{
+			PORTE |= 0x02;
+			DDRE |= 0x02;
+		}
+		else if(lvl<0)
+		{
+			DDRE &= ~0x02;
+			PORTE &= ~0x02;
+		}
+		else
+		{
+			PORTE &= ~0x02;
+			DDRE |= 0x02;
+		}
+		return;
+		
+		case GPIO_DIN4:  // Up DIN4
+		if(lvl>0)
+		{
+			PORTE |= 0x08;
+			DDRE |= 0x08;
+		}
+		else if(lvl<0)
+		{
+			DDRE &= ~0x08;
+			PORTE &= ~0x08;
+		}
+		else
+		{
+			PORTE &= ~0x08;
+			DDRE |= 0x08;
+		}
+		return;
+		
+		case GPIO_HVDIN3_PULL:  // 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 GPIO_OD1:  // LED 0
+		if(lvl>0) PORTD |= 0x01;
+		else PORTD &= ~0x01;
+		return;
+		
+		case GPIO_OD2:  // LED 1
+		if(lvl>0) PORTD |= 0x02;
+		else PORTD &= ~0x02;
+		return;
+		
+		case GPIO_OD3:  // LED 2
+		if(lvl>0) PORTD |= 0x04;
+		else PORTD &= ~0x04;
+		return;
+		
+		case GPIO_OD4:  // LED 3
+		if(lvl>0) PORTD |= 0x08;
+		else PORTD &= ~0x08;
+		return;
+		
+		case GPIO_OD5:  // LED 4
+		if(lvl>0) PORTD |= 0x10;
+		else PORTD &= ~0x10;
+		return;
+		
+		case GPIO_OD6:  // LED 5
+		if(lvl>0) PORTD |= 0x20;
+		else PORTD &= ~0x20;
+		return;
+		
+		case GPIO_OUT_LOW:  // DCCD Enable
+		if(lvl>0) PORTB |= 0x01;
+		else PORTB &= ~0x01;
+		return;
+		
+		case GPIO_FREQ_PULL:  // Speed-pull
+		if(lvl>0) PORTD |= 0x40;
+		else PORTD &= ~0x40;
+		return;
+		
+		default:
+		return;
+	}
+}
+
+void mcu::gpio_write_pull(uint8_t ch, int8_t lvl)
+{
+	if(is_init_done==0) return;
+	
+	switch(ch)
+	{
+		case GPIO_DIN1:  // Mode DIN1
+		if(lvl>0) PORTC |= 0x20;
+		else PORTC &= ~0x20;
+		return;
+		
+		case GPIO_DIN2:  // Pot DIN2
+		if(lvl>0) PORTC |= 0x10;
+		else PORTC &= ~0x10;
+		return;
+		
+		case GPIO_DIN3:  // Down DIN3
+		if(lvl>0) PORTE |= 0x02;
+		else PORTE &= ~0x02;
+		return;
+		
+		case GPIO_DIN4:  // Up DIN4
+		if(lvl>0) PORTE |= 0x08;
+		else PORTE &= ~0x08;
+		return;
+		
+		case GPIO_HVDIN1:  // Dimm
+		if(lvl>0) PORTD |= 0x80;
+		else PORTD &= ~0x80;
+		return;
+		
+		case GPIO_HVDIN2:  // Brakes
+		if(lvl>0) PORTB |= 0x80;
+		else PORTB &= ~0x80;
+		return;
+		
+		case GPIO_HVDIN3:  // Handbrake
+		if(lvl>0) PORTB |= 0x40;
+		else PORTB &= ~0x40;
+		return;
+		
+		default:
+		return;
+	}
+}
+
+// ADC interface functions
+void mcu::adc_start(uint8_t ch)
+{
+	if(is_init_done==0) return;
+	
+	// check if already running
+	if(ADCSRA&0x40) return;
+	
+	//check if ADC is enabled
+	if(!(ADCSRA&0x80)) return;
+
+	//Safe guard mux
+	if(ch > 15) return;
+	// Not available channels
+	if((ch > 8) && (ch<14)) return;
+	
+	ADMUX &= ~0x0F;
+	ADMUX |= ch;
+	ADCSRA |= 0x10; // Reset int. flag
+	ADCSRA |= 0x40;
+}
+
+
+uint8_t mcu::adc_is_running(void)
+{
+	if(ADCSRA&0x40) return 1;
+	else return 0;
+}
+
+uint8_t mcu::adc_is_new(void)
+{
+	if(ADCSRA&0x10) return 1;
+	else return 0;
+}
+
+uint16_t mcu::adc_read(void)
+{
+	if(is_init_done==0) return 0;
+	
+	ADCSRA |= 0x10; // Reset int. flag
+	return ADC;
+}
+
+uint16_t mcu::adc_read(uint8_t ch)
+{
+	if(is_init_done==0) return 0;
+	
+	//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 interface functions
+void mcu::pwm_write(uint8_t ch, uint16_t dc)
+{
+	if(is_init_done==0) return;
+	
+	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)
+{
+	if(is_init_done==0) return 0;
+	
+	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;
+}
+
+// EEPROM interface functions
+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 PWM_OUT:
+		OCR1A = value;
+		return;
+		
+		case PWM_OD:
+		OCR1B = value;
+		return;
+		
+		default:
+		return;
+	}
+}
+
+static uint16_t pwm_read_ocx(uint8_t ch)
+{
+	switch(ch)
+	{
+		case PWM_OUT:
+		return OCR1A;
+		
+		case PWM_OD:
+		return OCR1B ;
+		
+		default:
+		return 0x0000;
+	}
+}

firmware/src/bsp/memory.cpp

@@ -0,0 +1,55 @@
+/**** Includes ****/
+#include "mcu/mcu_hal.h"
+#include "memory.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+bsp::Memory::Memory(void)
+{
+	return;
+}
+
+bsp::Memory::~Memory(void)
+{
+	return;
+}
+
+uint8_t bsp::Memory::read_8b(uint16_t address)
+{
+	return mcu::eeprom_read8b(address);
+}
+
+
+uint16_t bsp::Memory::read_16b(uint16_t address)
+{
+	return mcu::eeprom_read16b(address);
+}
+
+uint32_t bsp::Memory::read_32b(uint16_t address)
+{
+	return mcu::eeprom_read32b(address);
+}
+
+void bsp::Memory::write_8b(uint16_t address, uint8_t value)
+{
+	mcu::eeprom_write8b(address, value);
+}
+
+
+void bsp::Memory::write_16b(uint16_t address, uint16_t value)
+{
+	mcu::eeprom_write16b(address, value);
+}
+
+void bsp::Memory::write_32b(uint16_t address, uint32_t value)
+{
+	mcu::eeprom_write32b(address, value);
+}
+
+/**** Private function definitions ****/
+

firmware/src/bsp/memory.h

@@ -0,0 +1,36 @@
+#ifndef MEMORY_IN_H_
+#define MEMORY_IN_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace bsp {
+
+/**** Public definitions ****/
+class Memory
+{	
+	public:
+	Memory(void);
+	~Memory(void);
+	
+	uint8_t read_8b(uint16_t address);
+	uint16_t read_16b(uint16_t address);
+	uint32_t read_32b(uint16_t address);
+	
+	void write_8b(uint16_t address, uint8_t value);
+	void write_16b(uint16_t address, uint16_t value);
+	void write_32b(uint16_t address, uint32_t value);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* MEMORY_IN_H_ */

firmware/src/bsp/pwm_out.cpp

@@ -0,0 +1,68 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "pwm_out.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+bsp::PwmOut::PwmOut(void)
+{
+	this->is_init_done = 0;
+	return;
+}
+
+bsp::PwmOut::~PwmOut(void)
+{
+	this->last_duty = 0;
+}
+
+void bsp::PwmOut::init(uint8_t pwm_ch, uint8_t max_dc)
+{
+	this->pwm_ch  = pwm_ch;
+	
+	this->last_duty = 0;
+	
+	if(max_dc>100) max_dc = 100;
+	
+	this->max_dc = util::percent_to_16b(max_dc);
+	
+	this->is_init_done = 1;
+}
+
+uint8_t bsp::PwmOut::is_init(void)
+{
+	return this->is_init_done;
+}
+
+void bsp::PwmOut::write(uint16_t numerator)
+{
+	if(this->is_init_done==0) return;
+	
+	// Update target
+	if(numerator > this->max_dc) numerator = this->max_dc;
+	this->last_duty = numerator;
+	
+	// Set PWM
+	mcu::pwm_write(this->pwm_ch, numerator);
+}
+
+void bsp::PwmOut::write(uint8_t percent)
+{
+	if(this->is_init_done==0) return;
+	
+	// Convert to numerator/0xFFFF
+	this->write(util::percent_to_16b(percent));
+}
+
+uint16_t bsp::PwmOut::get_set_duty(void)
+{
+	return this->last_duty;
+}
+
+/**** Private function definitions ****/

firmware/src/bsp/pwm_out.h

@@ -0,0 +1,39 @@
+#ifndef PWM_OUT_H_
+#define PWM_OUT_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace bsp {
+
+/**** Public definitions ****/
+class PwmOut
+{
+	public:
+	PwmOut(void);
+	~PwmOut(void);
+	
+	void init(uint8_t pwm_ch, uint8_t max_dc);
+	uint8_t is_init(void);
+	
+	void write(uint16_t numerator);
+	void write(uint8_t percent);
+	uint16_t get_set_duty(void);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+	uint8_t pwm_ch;
+	uint16_t last_duty;
+	uint16_t max_dc;
+	uint8_t is_init_done;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* PWM_OUT_H_ */

firmware/src/dccd/brakes.cpp

@@ -0,0 +1,117 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "brakes.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::Brakes::Brakes(void)
+{
+	return;
+}
+
+dccd::Brakes::~Brakes(void)
+{
+	return;
+}
+
+void dccd::Brakes::init(dccd::DccdHw* dccd_hw)
+{	
+	this->hardware = dccd_hw;
+	
+	this->mode = OPEN;
+	this->is_new_mode = 0;
+	
+	this->is_active = 0;
+}
+
+void dccd::Brakes::cfg_debounce(uint16_t dbnc_time)
+{
+	this->hardware->brakes.dbnc_lim = dbnc_time;
+}
+
+uint8_t dccd::Brakes::process(void)
+{
+	if(this->hardware->brakes.state > 0)
+	{
+		this->is_active = 1;
+	}
+	else
+	{
+		this->is_active = 0;
+	}
+	
+	return this->is_active;
+}
+
+Brakes::bmode_t dccd::Brakes::cycle_mode(void)
+{
+	switch(this->mode)
+	{
+		case OPEN:
+		this->mode = KEEP;
+		break;
+		
+		case KEEP:
+		this->mode = LOCK;
+		break;
+		
+		case LOCK:
+		this->mode = OPEN;
+		break;
+		
+		default:
+		this->mode = OPEN;
+		break;
+	}
+	
+	this->is_new_mode = 1;
+	
+	return this->mode;
+}
+
+uint8_t dccd::Brakes::get_mode_int(void)
+{
+	switch(this->mode)
+	{
+		case OPEN:
+		return 0;
+		
+		case KEEP:
+		return 1;
+		
+		case LOCK:
+		return 2;
+		
+		default:
+		return 0;
+	}
+}
+
+void dccd::Brakes::set_mode_int(uint8_t mode_int)
+{
+	switch(mode_int)
+	{
+		case 0:
+		this->mode = OPEN;
+		break;
+		
+		case 1:
+		this->mode = KEEP;
+		break;
+		
+		case 2:
+		this->mode = LOCK;
+		break;
+		
+		default:
+		this->mode = OPEN;
+		break;
+	}
+}
+
+/**** Private function definitions ***/

firmware/src/dccd/brakes.h

@@ -0,0 +1,49 @@
+#ifndef DCCD_BRAKES_H_
+#define DCCD_BRAKES_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class Brakes
+{
+	public:
+	typedef enum
+	{
+		OPEN = 0,
+		KEEP = 1,
+		LOCK = 2
+	}bmode_t;
+	
+	Brakes(void);
+	~Brakes(void);
+	
+	void init(dccd::DccdHw* dccd_hw);	
+	
+	bmode_t mode;
+	uint8_t is_active;
+	uint8_t is_new_mode;
+	
+	void cfg_debounce(uint16_t dbnc_time);
+	bmode_t cycle_mode(void);
+	uint8_t process(void);
+	uint8_t get_mode_int(void);
+	void set_mode_int(uint8_t mode_int);
+	
+	#ifdef TESTING
+	protected:
+	#endif
+	dccd::DccdHw* hardware;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_BRAKES_H_ */

firmware/src/dccd/coil_reg.cpp

@@ -0,0 +1,115 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "coil_reg.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::CoilReg::CoilReg(void)
+{
+	return;
+}
+
+dccd::CoilReg::~CoilReg(void)
+{
+	return;
+}
+
+void dccd::CoilReg::init(dccd::DccdHw* dccd_hw)
+{	
+	this->hardware = dccd_hw;
+	
+	this->lock_current = 4500;
+	this->ref_resistance = 1500;
+	this->cc_max_resistance = 2000;
+	this->cc_min_resistance = 1000;
+	this->target_force = 0;
+	this->set_force = 0;
+	this->disable_protection = 0;
+	
+	// Config output protection
+	this->hardware->out_voltage.under_treshold = 0;
+	this->hardware->out_voltage.over_treshold = 0xFFFF;
+	this->hardware->out_voltage.hold_time = 200;
+	this->hardware->out_voltage.cooldown_time = 1000;
+	this->hardware->out_voltage.auto_reset = 1;
+}
+
+void dccd::CoilReg::process(void)
+{	
+	// Fix target force
+	if(this->target_force > 100) this->target_force = 100;
+	
+	// Check protection
+	if((this->disable_protection==0)&&(this->hardware->out_voltage.fault!=0))
+	{
+		// HiZ
+		this->hardware->outreg.write_voltage(0);
+		this->hardware->outreg.write_current(0);
+		this->hardware->outreg.write_on(0);
+		this->hardware->out_voltage.under_treshold = 0;
+		this->set_force = -1;
+		return;
+	};
+
+	// Check for target changes
+	if(this->target_force == this->set_force) return;
+	
+	// Update set force
+	this->set_force = this->target_force;
+	if(this->set_force < 0)
+	{
+		// HiZ
+		this->hardware->outreg.write_voltage(0);
+		this->hardware->outreg.write_current(0);
+		this->hardware->outreg.write_on(0);
+		this->hardware->out_voltage.under_treshold = 0;
+	}
+	else if(this->set_force == 0)
+	{
+		// Open
+		this->hardware->outreg.write_voltage(0);
+		this->hardware->outreg.write_current(0);
+		this->hardware->outreg.write_on(1);
+		this->hardware->out_voltage.under_treshold = 0;
+	}
+	else
+	{
+		// Calculate current and voltage settings
+		this->hardware->outreg.write_current(util::percent_of((uint8_t)this->set_force, this->lock_current));
+		uint16_t resistance = this->ref_resistance;
+		if(this->hardware->outreg.cc_mode_en) resistance = this->cc_max_resistance;
+		this->hardware->outreg.write_voltage(util::sat_mul_kilo(this->hardware->outreg.read_current(), resistance));
+		this->hardware->outreg.write_on(1);
+		// Calculate min. voltage
+		if(this->disable_protection==0) this->hardware->out_voltage.under_treshold = util::sat_mul_kilo(this->hardware->outreg.read_current(), cc_min_resistance);
+	}
+}
+
+uint8_t dccd::CoilReg::is_fault(void)
+{
+	if(this->disable_protection!=0) return 0;
+	return this->hardware->out_voltage.fault;
+}
+
+uint8_t dccd::CoilReg::read_act_force(void)
+{
+	if(this->set_force < 0) return 0;
+	else return (uint8_t)this->set_force;
+}
+
+void dccd::CoilReg::cfg_set_cv_mode(void)
+{
+	this->hardware->outreg.cc_mode_en = 0;
+}
+
+void dccd::CoilReg::cfg_set_cc_mode(void)
+{
+	this->hardware->outreg.cc_mode_en = 1;
+}
+
+/**** Private function definitions ***/

firmware/src/dccd/coil_reg.h

@@ -0,0 +1,47 @@
+#ifndef DCCD_COIL_REG_H_
+#define DCCD_COIL_REG_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class CoilReg
+{
+	public:	
+	CoilReg(void);
+	~CoilReg(void);
+	
+	void init(dccd::DccdHw* dccd_hw);
+	
+	uint16_t lock_current;
+	uint16_t ref_resistance;
+	uint16_t cc_max_resistance;
+	uint16_t cc_min_resistance;
+	uint8_t disable_protection;
+	
+	int8_t target_force;
+	
+	void process(void);
+	uint8_t read_act_force(void);
+	void cfg_set_cv_mode(void);
+	void cfg_set_cc_mode(void);
+	uint8_t is_fault(void);
+
+	#ifdef TESTING
+	protected:
+	#endif
+	dccd::DccdHw* hardware;
+	int8_t set_force;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_COIL_REG_H_ */

firmware/src/dccd/dccd.cpp

@@ -0,0 +1,438 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "dccd.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::DccdApp::DccdApp(void)
+{
+	return;
+}
+
+dccd::DccdApp::~DccdApp(void)
+{
+	return;
+}
+
+void dccd::DccdApp::init(DccdHw* dccd_hw, cfg_app_t* def_cfg)
+{
+	this->hardware = dccd_hw;
+	this->config = def_cfg;
+	
+	// Memory
+	this->nvmem.init(dccd_hw);
+	this->read_nvmem_cfg();
+	
+	// Set config	
+	this->user_force.init(dccd_hw);
+	this->user_force.btn_repeat_time = this->config->user_btn_repeat_time;
+	this->user_force.pot_mode = this->config->pot_mode;
+	this->user_force.btn_step = this->config->btn_step;
+	this->user_force.cfg_debounce(this->config->user_btn_dbnc);
+	
+	this->mode_btn.init(dccd_hw);
+	this->mode_btn.btn_repeat_time = this->config->mode_btn_repeat_time;
+	this->mode_btn.cfg_debounce(this->config->user_btn_dbnc);
+	
+	this->tps.init(dccd_hw);
+	this->tps.treshold_on = this->config->tps_treshold_on;
+	this->tps.treshold_off = this->config->tps_treshold_off;
+	this->tps.timeout_time = this->config->tps_timeout;
+	this->tps.mode = Thtrottle::MODE0;
+	
+	this->hbrake.init(dccd_hw);
+	this->hbrake.latch_time_1 = this->config->hbrake_latch_time_1;
+	this->hbrake.latch_time_2 = this->config->hbrake_latch_time_2;
+	this->hbrake.latch_time_3 = this->config->hbrake_latch_time_3;
+	this->hbrake.mode = Handbrake::LATCH0;
+	this->hbrake.cfg_debounce(this->config->hbrake_dbnc);
+	
+	this->brakes.init(dccd_hw);
+	this->brakes.mode = Brakes::OPEN;
+	this->brakes.cfg_debounce(this->config->brakes_dbnc);
+	
+	this->coil_reg.init(dccd_hw);
+	this->coil_reg.lock_current = this->config->coil_lock_current;
+	this->coil_reg.ref_resistance = this->config->coil_ref_resistance;
+	this->coil_reg.cc_max_resistance = this->config->coil_out_max_resistance;
+	this->coil_reg.cc_min_resistance = this->config->coil_out_min_resistance;
+	this->coil_reg.target_force = 0;
+	this->coil_reg.disable_protection = this->config->coil_disable_protection;
+	if(this->config->coil_cc_mode) this->coil_reg.cfg_set_cc_mode();
+	else this->coil_reg.cfg_set_cv_mode();
+	
+	this->dsp.init(dccd_hw);
+	this->dsp.brigth_pwm = this->config->dsp_brigth_pwm;
+	this->dsp.dimm_pwm = this->config->dsp_dimm_pwm;
+	this->dsp.next_image = 0x01;
+	this->dsp.next_lock_lvl = 0;
+	this->dsp.next_lock_time = 0;
+	
+	// Variable config
+	if(this->user_force.pot_mode!=0) this->config->tps_enabled = 0;
+	
+	// Restore saved user config
+	this->user_force.btn_force = this->nvmem.dynamic_cfg.btn_force;
+	if(this->user_force.btn_force > 100)
+	{
+		this->user_force.btn_force = 100;
+		this->nvmem.dynamic_cfg.btn_force = 100;
+	};
+	
+	this->tps.set_mode_int(this->nvmem.dynamic_cfg.tps_mode);
+	this->hbrake.set_mode_int(this->nvmem.dynamic_cfg.hbrake_mode);
+	this->brakes.set_mode_int(this->nvmem.dynamic_cfg.brakes_mode);
+	
+	// Initialize state
+	this->hardware->read();
+	
+	this->coil_reg.process();
+	
+	this->dsp.force_backlight(this->dsp.brigth_pwm);
+	this->dsp.process();
+	
+	this->hardware->write();
+}
+
+void dccd::DccdApp::process(void)
+{
+	// Update all inputs
+	this->hardware->read();
+	
+	// Process pedals
+	this->tps.process();
+	this->hbrake.process();
+	this->brakes.process();
+	
+	// Process mode
+	this->mode_btn.process();
+	if(this->mode_btn.is_new)
+	{
+		this->mode_btn.is_new = 0;
+		if(this->hbrake.is_active)
+		{
+			this->hbrake.cycle_mode();
+			this->nvmem.dynamic_cfg.hbrake_mode = this->hbrake.get_mode_int();
+		}
+		else if (this->brakes.is_active)
+		{
+			this->brakes.cycle_mode();
+			this->nvmem.dynamic_cfg.brakes_mode = this->brakes.get_mode_int();
+		}
+		else if(this->user_force.pot_mode==0)
+		{
+			this->tps.cycle_mode();
+			this->nvmem.dynamic_cfg.tps_mode = this->tps.get_mode_int();
+		}
+		else
+		{
+			this->brakes.cycle_mode();
+			this->nvmem.dynamic_cfg.brakes_mode = this->brakes.get_mode_int();
+		}
+	};
+	
+	// Process user force
+	this->user_force.process();
+	
+	if(this->user_force.is_new_btn_force)
+	{
+		this->nvmem.dynamic_cfg.btn_force = this->user_force.btn_force;
+	};
+	
+	// Calculate new output force
+	this->coil_reg.target_force =  this->calc_next_force();
+	
+	// Process coil driver
+	this->coil_reg.process();
+	
+	// Process display logic
+	this->dsp_logic();
+
+	// Execute outputs
+	this->hardware->write();
+	
+	// Save new user config
+	this->nvmem.update();
+}
+
+/**** Private function definitions ***/
+
+int8_t dccd::DccdApp::calc_next_force(void)
+{
+	if(this->hbrake.is_active)
+	{
+		return this->config->hbrake_force;
+	}
+	else if(this->brakes.is_active)
+	{
+		switch(this->brakes.mode)
+		{
+			case Brakes::OPEN:
+			return this->config->brakes_open_force;
+			
+			case Brakes::KEEP:
+			return (int8_t)(this->user_force.force);
+			
+			case Brakes::LOCK:
+			return this->config->brakes_lock_force;
+			
+			default:
+			return 0;
+		}
+	}
+	else
+	{
+		// Determine TPS force override
+		int8_t tps_force = 0;
+		if((this->config->tps_enabled)&&(this->tps.is_active()))
+		{
+			switch(this->tps.mode)
+			{
+				case Thtrottle::MODE0:
+				tps_force = 0;
+				break;
+				
+				case Thtrottle::MODE1:
+				tps_force = this->config->tps_force_1;
+				break;
+				
+				case Thtrottle::MODE2:
+				tps_force = this->config->tps_force_2;
+				break;
+				
+				case Thtrottle::MODE3:
+				tps_force = this->config->tps_force_3;
+				break;
+				
+				default:
+				tps_force = 0;
+				break;
+			}
+		};
+		
+		// Return biggest of two sources
+		if(tps_force > (int8_t)this->user_force.force) return tps_force;
+		else return (int8_t)(this->user_force.force);
+	}
+}
+
+void dccd::DccdApp::dsp_logic(void)
+{
+	// Display image
+	if(this->hbrake.is_new_mode)
+	{
+		this->hbrake.is_new_mode = 0;
+		uint8_t hbmode_image;
+		switch(this->hbrake.mode)
+		{
+			case Handbrake::LATCH0:
+			hbmode_image = 0x07;
+			break;
+			
+			case Handbrake::LATCH1:
+			hbmode_image = 0x0E;
+			break;
+			
+			case Handbrake::LATCH2:
+			hbmode_image = 0x1C;
+			break;
+			
+			case Handbrake::LATCH3:
+			hbmode_image = 0x38;
+			break;
+			
+			default:
+			hbmode_image = 0x07;
+			this->hbrake.mode = Handbrake::LATCH0;
+			break;
+		}
+		this->dsp.write(hbmode_image, 3, this->config->dsp_mode_lock_time);
+	}
+	else if(this->brakes.is_new_mode)
+	{
+		this->brakes.is_new_mode = 0;
+		uint8_t bmode_image;
+		switch(this->brakes.mode)
+		{
+			case Brakes::OPEN:
+			bmode_image = 0x07;
+			break;
+				
+			case Brakes::KEEP:
+			bmode_image = 0x1E;
+			break;
+				
+			case Brakes::LOCK:
+			bmode_image = 0x38;
+			break;
+				
+			default:
+			bmode_image = 0x07;
+			this->brakes.mode = Brakes::OPEN;
+			break;
+		}
+		this->dsp.write(bmode_image, 3, this->config->dsp_mode_lock_time);
+	}
+	else if(this->tps.is_new_mode)
+	{
+		this->tps.is_new_mode = 0;
+		uint8_t tpsmode_image;
+		switch(this->tps.mode)
+		{
+			case Thtrottle::MODE0:
+			tpsmode_image = 20;
+			break;
+			
+			case Thtrottle::MODE1:
+			tpsmode_image = 60;
+			break;
+			
+			case Thtrottle::MODE2:
+			tpsmode_image = 80;
+			break;
+			
+			case Thtrottle::MODE3:
+			tpsmode_image = 100;
+			break;
+			
+			default:
+			tpsmode_image = 0;
+			this->tps.mode = Thtrottle::MODE0;
+			break;
+		}
+		this->dsp.write_percent(tpsmode_image, DccdDisplay::BAR20, 3, this->config->dsp_mode_lock_time);
+	}
+	else if(this->user_force.is_new_btn_force)
+	{
+		this->user_force.is_new_btn_force = 0;
+		this->dsp.write_percent(this->user_force.force, DccdDisplay::DOT10, 2, this->config->dsp_force_lock_time);
+	}
+	else if(this->coil_reg.is_fault())
+	{
+		this->dsp.write(0x33, 1, 0);
+	}
+	else
+	{
+		this->dsp.write_percent(this->coil_reg.read_act_force(), DccdDisplay::DOT10, 0, 0);
+	};
+		
+	// Process display
+	this->dsp.process();
+}
+
+void dccd::DccdApp::read_nvmem_cfg(void)
+{
+	if(this->config->force_def_config!=0) return;
+	
+	Memory::staticmem_t mem_cfg;
+	this->nvmem.read_static(&mem_cfg);
+	
+	// Process raw saved config
+	if(mem_cfg.is_nvmem_cfg != 0x01) return; // No valid config in memory
+	
+	// Input mode
+	if((mem_cfg.inp_mode == 0x00)||(mem_cfg.inp_mode == 0x01))
+	{
+		this->config->pot_mode = mem_cfg.inp_mode;
+	};
+	
+	// Handbrake
+	this->config->hbrake_latch_time_1 = (uint16_t)mem_cfg.hbrake_t1 * 100;
+	this->config->hbrake_latch_time_2 = (uint16_t)mem_cfg.hbrake_t2 * 100;
+	this->config->hbrake_latch_time_3 = (uint16_t)mem_cfg.hbrake_t3 * 100;
+
+	this->config->hbrake_dbnc = (uint16_t)mem_cfg.hbrake_dbnc * 10;
+	
+	if((mem_cfg.hbrake_force <= 100)||(mem_cfg.hbrake_force == 0xFF))
+	{
+		this->config->hbrake_force = (int8_t)mem_cfg.hbrake_force;
+	};
+	
+	// Brakes
+	this->config->brakes_dbnc = (uint16_t)mem_cfg.brakes_dnbc * 10;
+	
+	if((mem_cfg.brakes_open_force <= 100)||(mem_cfg.brakes_open_force == 0xFF))
+	{
+		this->config->brakes_open_force = (int8_t)mem_cfg.brakes_open_force;
+	};
+	
+	if((mem_cfg.brakes_lock_force <= 100)||(mem_cfg.brakes_lock_force == 0xFF))
+	{
+		this->config->brakes_lock_force = (int8_t)mem_cfg.brakes_lock_force;
+	};
+	
+	// Throttle position
+	if((mem_cfg.tps_en == 0x00)||(mem_cfg.tps_en == 0x01))
+	{
+		this->config->tps_enabled = mem_cfg.tps_en;
+	};
+	
+	if(mem_cfg.tps_on_th <= 100)
+	{
+		this->config->tps_treshold_on = mem_cfg.tps_on_th;
+	};
+	
+	if(mem_cfg.tps_off_th <= 100)
+	{
+		this->config->tps_treshold_off = mem_cfg.tps_off_th;
+	};
+	
+	this->config->tps_timeout = (uint16_t)mem_cfg.tps_timeout * 100;
+	
+	if(mem_cfg.tps_force_1 <= 100)
+	{
+		this->config->tps_force_1 = (int8_t)mem_cfg.tps_force_1;
+	};
+	
+	if(mem_cfg.tps_force_2 <= 100)
+	{
+		this->config->tps_force_2 = (int8_t)mem_cfg.tps_force_2;
+	};
+	
+	if(mem_cfg.tps_force_3 <= 100)
+	{
+		this->config->tps_force_3 = (int8_t)mem_cfg.tps_force_3;
+	};
+	
+	// Coil
+	if(mem_cfg.coil_lock_current <= 60)
+	{
+		this->config->coil_lock_current = (uint16_t)mem_cfg.coil_lock_current * 100;
+	};
+	
+	if((mem_cfg.coil_ccm_resistance >= 10)&&(mem_cfg.coil_ccm_resistance <= 20))
+	{
+		this->config->coil_ref_resistance = (uint16_t)mem_cfg.coil_ccm_resistance * 100;
+	};
+	
+	if((mem_cfg.coil_cvm_resistance >= 10)&&(mem_cfg.coil_cvm_resistance <= 30))
+	{
+		this->config->coil_out_max_resistance = (uint16_t)mem_cfg.coil_cvm_resistance * 100;
+	};
+	
+	if((mem_cfg.coil_protection_dis == 0x00)||(mem_cfg.coil_protection_dis == 0x01))
+	{
+		this->config->coil_disable_protection = mem_cfg.coil_protection_dis;
+	};
+	
+	if((mem_cfg.coil_cc_mode_en == 0x00)||(mem_cfg.coil_cc_mode_en == 0x01))
+	{
+		this->config->coil_cc_mode = mem_cfg.coil_cc_mode_en;
+	};
+	
+	// Display
+	if(mem_cfg.dsp_brigth_pwm <= 100)
+	{
+		this->config->dsp_brigth_pwm = mem_cfg.dsp_brigth_pwm;
+	};
+	
+	if(mem_cfg.dsp_dimm_pwm <= 100)
+	{
+		this->config->dsp_dimm_pwm = mem_cfg.dsp_dimm_pwm;
+	};
+}

firmware/src/dccd/dccd.h

@@ -0,0 +1,90 @@
+#ifndef DCCD_APP_H_
+#define DCCD_APP_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+#include "user_force.h"
+#include "mode.h"
+#include "handbrake.h"
+#include "brakes.h"
+#include "coil_reg.h"
+#include "display.h"
+#include "tps.h"
+#include "memory.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class DccdApp
+{
+	public:
+	typedef struct{
+		uint16_t user_btn_dbnc;
+		uint16_t user_btn_repeat_time;
+		uint8_t pot_mode;
+		uint8_t btn_step;
+		uint16_t mode_btn_repeat_time;
+		uint8_t tps_treshold_on;
+		uint8_t tps_treshold_off;
+		uint16_t tps_timeout;
+		uint16_t hbrake_latch_time_1;
+		uint16_t hbrake_latch_time_2;
+		uint16_t hbrake_latch_time_3;
+		uint16_t hbrake_dbnc;
+		uint16_t brakes_dbnc;
+		uint16_t coil_lock_current;
+		uint16_t coil_ref_resistance;
+		uint16_t coil_out_max_resistance;
+		uint16_t coil_out_min_resistance;
+		uint8_t coil_disable_protection;
+		uint8_t coil_cc_mode;
+		uint8_t dsp_brigth_pwm;
+		uint8_t dsp_dimm_pwm;
+		int8_t hbrake_force;
+		int8_t brakes_open_force;
+		int8_t brakes_lock_force;
+		uint8_t tps_enabled;
+		int8_t tps_force_1;
+		int8_t tps_force_2;
+		int8_t tps_force_3;
+		uint16_t dsp_mode_lock_time;
+		uint16_t dsp_force_lock_time;
+		uint8_t force_def_config;
+	} cfg_app_t;
+	
+	DccdApp(void);
+	~DccdApp(void);
+	
+	void init(DccdHw* dccd_hw, cfg_app_t* def_cfg);
+	void process(void);
+
+	UserForce user_force;
+	ModeBtn mode_btn;
+	Handbrake hbrake;
+	Brakes brakes;
+	CoilReg coil_reg;
+	DccdDisplay dsp;
+	Thtrottle tps;
+	Memory nvmem;
+	
+	cfg_app_t* config;
+	
+	#ifdef TESTING
+	protected:
+	#endif
+	DccdHw* hardware;
+	
+	int8_t calc_next_force(void);
+	void dsp_logic(void);
+	void read_nvmem_cfg(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_APP_H_ */

firmware/src/dccd/dccd_hw.cpp

@@ -0,0 +1,190 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "dccd_hw.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+static const uint8_t def_dbnc_time = 10;
+
+static const uint16_t def_pot_dead_bot = 500;
+static const uint16_t def_pot_dead_top = 4500;
+
+static const uint8_t def_cc_mode_en = 1;
+
+static const uint16_t def_cnter_us = 900;
+
+static const uint16_t def_out_voltage_under_treshold = 0;
+static const uint16_t def_out_voltage_over_treshold = 9000;
+static const uint16_t def_out_voltage_hold_time = 1000;
+static const uint16_t def_out_voltage_cooldown_time = 0;
+
+static const uint16_t def_out_current_under_treshold = 0;
+static const uint16_t def_out_current_over_treshold = 6000;
+static const uint16_t def_out_current_hold_time = 200;
+static const uint16_t def_out_current_cooldown_time = 1000;
+
+static const uint16_t def_battery_voltage_under_treshold = 9000;
+static const uint16_t def_battery_voltage_over_treshold = 18000;
+static const uint16_t def_battery_voltage_hold_time = 1000;
+static const uint16_t def_battery_voltage_cooldown_time = 0;
+
+static const uint16_t def_battery_current_under_treshold = 0;
+static const uint16_t def_battery_current_over_treshold = 8000;
+static const uint16_t def_battery_current_hold_time = 200;
+static const uint16_t def_battery_current_cooldown_time = 1000;
+
+static const uint16_t def_inital_bat_voltage = 12000;
+
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::DccdHw::DccdHw(void)
+{
+	return;
+}
+
+dccd::DccdHw::~DccdHw(void)
+{
+	return;
+}
+
+void dccd::DccdHw::init(dccdHwCfg_t* cfg)
+{	
+	// Apply config
+	bsp::Board::boardCfg_t board_cfg;
+	board_cfg.pwm_f_khz = cfg->pwm_f_khz;
+	board_cfg.od_common_is_pwm = 1;
+	this->board_hw.init(&board_cfg);
+	
+	this->counter.init(0xFFFF, cfg->counter_step_us);
+	this->counter.disabled = 0;
+	
+	this->out_voltage.init(&(this->board_hw.out_voltage), &(this->counter));
+	this->out_voltage.under_treshold = def_out_voltage_under_treshold;
+	this->out_voltage.over_treshold = def_out_voltage_over_treshold;
+	this->out_voltage.hold_time = def_out_voltage_hold_time;
+	this->out_voltage.cooldown_time = def_out_voltage_cooldown_time;
+	this->out_voltage.update_ain = 0;
+	this->out_voltage.auto_reset = 1;
+	
+	this->out_current.init(&(this->board_hw.out_current), &(this->counter));
+	this->out_current.under_treshold = def_out_current_under_treshold;
+	this->out_current.over_treshold = def_out_current_over_treshold;
+	this->out_current.hold_time = def_out_current_hold_time;
+	this->out_current.cooldown_time = def_out_current_cooldown_time;
+	this->out_current.update_ain = 0;
+	this->out_current.auto_reset = 1;
+	
+	this->battery_voltage.init(&(this->board_hw.battery_voltage), &(this->counter));
+	this->battery_voltage.under_treshold = def_battery_voltage_under_treshold;
+	this->battery_voltage.over_treshold = def_battery_voltage_over_treshold;
+	this->battery_voltage.hold_time = def_battery_voltage_hold_time;
+	this->battery_voltage.cooldown_time = def_battery_voltage_cooldown_time;
+	this->battery_voltage.update_ain = 0;
+	this->battery_voltage.auto_reset = 1;
+	this->battery_voltage.last_read = def_inital_bat_voltage;
+	
+	this->battery_current.init(&(this->board_hw.battery_current), &(this->counter));
+	this->battery_current.under_treshold = def_battery_current_under_treshold;
+	this->battery_current.over_treshold = def_battery_current_over_treshold;
+	this->battery_current.hold_time = def_battery_current_hold_time;
+	this->battery_current.cooldown_time = def_battery_current_cooldown_time;
+	this->battery_current.update_ain = 0;
+	this->battery_current.auto_reset = 1;
+	
+	this->btn_up.init(&(this->board_hw.din4), 0, &(this->counter), def_dbnc_time);
+	this->btn_up.update_din = 0;
+	
+	this->btn_down.init(&(this->board_hw.din3), 0, &(this->counter), def_dbnc_time);
+	this->btn_down.update_din = 0;
+	
+	this->btn_mode.init(&(this->board_hw.din1), 0, &(this->counter), def_dbnc_time);
+	this->btn_mode.update_din = 0;
+	
+	this->handbrake.init(&(this->board_hw.hvdin3), 0, &(this->counter), def_dbnc_time);
+	this->handbrake.update_din = 0;
+	
+	this->brakes.init(&(this->board_hw.hvdin2), 1, &(this->counter), def_dbnc_time);
+	this->brakes.update_din = 0;
+	
+	this->dimm.init(&(this->board_hw.hvdin1), 1, &(this->counter), def_dbnc_time);
+	this->dimm.update_din = 0;
+	
+	this->pot.init(&(this->board_hw.ain2), def_pot_dead_bot, def_pot_dead_top);
+	this->pot.update_ain = 0;
+	
+	hw::OutReg::outRegCfg_t outreg_cfg;
+	outreg_cfg.pwm_high = &this->board_hw.out_pwm;
+	outreg_cfg.dout_low = &this->board_hw.out_low;
+	outreg_cfg.ubat = &this->board_hw.battery_voltage;
+	outreg_cfg.uout = &this->board_hw.out_voltage;
+	outreg_cfg.iout = &this->board_hw.out_current;
+	this->outreg.init(&outreg_cfg);
+	this->outreg.cc_mode_en = def_cc_mode_en;
+	this->outreg.update_ain = 0;
+	
+	hw::LedDisplay::doutCfg_t dsp_cfg;
+	dsp_cfg.led0_dout_ch = &(this->board_hw.od1);
+	dsp_cfg.led1_dout_ch = &(this->board_hw.od2);
+	dsp_cfg.led2_dout_ch = &(this->board_hw.od3);
+	dsp_cfg.led3_dout_ch = &(this->board_hw.od4);
+	dsp_cfg.led4_dout_ch = &(this->board_hw.od5);
+	dsp_cfg.led5_dout_ch = &(this->board_hw.od6);
+	
+	this->display.init(&dsp_cfg, 0, &(this->counter), &(this->board_hw.od_pwm));
+	
+	// Apply configuration
+	if(cfg->handbrake_pull_up)
+	{
+		this->board_hw.hvdin3_pull.write(1);
+	}
+	else this->board_hw.hvdin3_pull.write(0);
+	
+	if(cfg->speed_hall)
+	{
+		this->board_hw.freq_pull.write(1);
+	}
+	else this->board_hw.freq_pull.write(0);
+	
+	// Set initial output states
+	this->outreg.write_voltage(0);
+	this->outreg.write_current(0);
+	this->outreg.write_on(0);
+	this->outreg.write_lock(0);
+	this->outreg.process();
+	
+	this->display.write_backlight(100);
+	this->display.write(0x00);
+}
+
+void dccd::DccdHw::read(void)
+{
+	// Update low level inputs
+	this->board_hw.read();
+	
+	this->counter.increment();
+	
+	this->out_voltage.process();
+	this->out_current.process();
+	this->battery_voltage.process();
+	this->battery_current.process();
+	
+	this->btn_up.process();
+	this->btn_down.process();
+	this->btn_mode.process();
+	this->handbrake.process();
+	this->brakes.process();
+	this->dimm.process();
+	
+	this->pot.read();
+}
+
+void dccd::DccdHw::write(void)
+{
+	this->display.process();
+	this->outreg.process();
+}
+
+/**** Private function definitions ***/

firmware/src/dccd/dccd_hw.h

@@ -0,0 +1,69 @@
+#ifndef DCCD_HW_H_
+#define DCCD_HW_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/board.h"
+#include "../utils/vcounter.h"
+#include "../hw/button.h"
+#include "../hw/led_display.h"
+#include "../hw/potentiometer.h"
+#include "../hw/out_driver.h"
+#include "../hw/safe_ain.h"
+#include "../hw/out_reg.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class DccdHw
+{
+	public:
+	typedef struct {
+		uint8_t pwm_f_khz;
+		uint8_t handbrake_pull_up;
+		uint8_t speed_hall;
+		uint16_t counter_step_us;
+	} dccdHwCfg_t;
+		
+	DccdHw(void);
+	~DccdHw(void);
+	
+	void init(dccdHwCfg_t* cfg);
+	
+	// Inputs
+	hw::SafeAin out_voltage;
+	hw::SafeAin out_current;
+	hw::SafeAin battery_voltage;
+	hw::SafeAin battery_current;
+	
+	hw::Button btn_up;
+	hw::Button btn_down;
+	hw::Button btn_mode;
+	hw::Button handbrake;
+	hw::Button brakes;
+	hw::Button dimm;
+	
+	hw::Potentiometer pot;
+	
+	// Outputs
+	hw::LedDisplay display;
+	hw::OutReg outreg;
+	
+	void read(void);
+	void write(void);
+	
+	#ifdef TESTING
+	protected:
+	#endif
+	bsp::Board board_hw;
+	util::VCounter counter;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_HW_H_ */

firmware/src/dccd/display.cpp

@@ -0,0 +1,208 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "display.h"
+
+using namespace dccd;
+
+/**** 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 ****/
+dccd::DccdDisplay::DccdDisplay(void)
+{
+	return;
+}
+
+dccd::DccdDisplay::~DccdDisplay(void)
+{
+	return;
+}
+
+void dccd::DccdDisplay::init(dccd::DccdHw* dccd_hw)
+{	
+	this->hardware = dccd_hw;
+	
+	this->brigth_pwm = 50;
+	this->dimm_pwm = 25;
+	
+	this->next_image = 0x00;
+	this->next_lock_lvl = 0;
+	this->next_lock_time = 0;
+	this->act_image = 0x00;
+	this->act_lock_lvl = 0;
+}
+
+void dccd::DccdDisplay::cfg_debounce(uint16_t dbnc_time)
+{
+	this->hardware->dimm.dbnc_lim = dbnc_time;
+}
+
+void dccd::DccdDisplay::write(uint8_t image, uint8_t lock_lvl, uint16_t lock_time)
+{
+	this->next_image = image;
+	this->next_lock_lvl = lock_lvl;
+	this->next_lock_time = lock_time;
+}
+
+void dccd::DccdDisplay::write_percent(uint8_t percent, dspstyle_t style, uint8_t lock_lvl, uint16_t lock_time)
+{
+	uint8_t img = 0x01;
+	
+	switch(style)
+	{
+		case DOT20:
+		img = img_gen_dot20(percent);
+		break;
+		
+		case BAR20:
+		img = img_gen_bar(percent);
+		break;
+		
+		default:
+		img = img_gen_dot10(percent);
+		break;
+	}
+	
+	this->write(img, lock_lvl, lock_time);
+}
+
+void dccd::DccdDisplay::force_backlight(uint8_t percent)
+{
+	if(percent > this->brigth_pwm) percent = this->brigth_pwm;
+	this->hardware->display.write_backlight(percent);
+}
+
+void dccd::DccdDisplay::process(void)
+{	
+	// Process DIMM switch
+	if(this->hardware->dimm.is_new)
+	{
+		this->hardware->dimm.is_new = 0;
+		if(this->hardware->dimm.state) this->hardware->display.write_backlight(this->dimm_pwm);
+		else this->hardware->display.write_backlight(this->brigth_pwm);
+	};
+	
+	// Image processor
+	uint8_t update_img = 0;
+	if(this->next_lock_lvl >= this->act_lock_lvl) update_img = 1;
+	else if(this->hardware->display.is_cycle_end()) update_img = 1;
+	
+	if(update_img)
+	{
+		this->act_image = this->next_image;
+		this->act_lock_lvl = this->next_lock_lvl;
+		this->next_lock_lvl = 0;
+		
+		if(this->next_lock_time > 0)
+		{
+			this->hardware->display.write(this->act_image, this->next_lock_time+1, this->next_lock_time, 1);
+		}
+		else
+		{
+			this->hardware->display.write(this->act_image);
+			this->act_lock_lvl = 0;
+		}
+	};
+}
+
+/**** 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;
+		
+		case 96 ... 100:
+		return 0x20;
+		
+		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;
+		
+		case 91 ... 100:
+		return 0x20;
+		
+		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;
+		
+		case 91 ... 100:
+		return 0x3F;
+		
+		default:
+		return 0x3F;
+	}
+}

firmware/src/dccd/display.h

@@ -0,0 +1,55 @@
+#ifndef DCCD_DISPLAY_H_
+#define DCCD_DISPLAY_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class DccdDisplay
+{
+	public:
+	typedef enum
+	{
+		DOT10 = 0,
+		DOT20 = 1,
+		BAR20 = 2
+	} dspstyle_t;
+	
+	DccdDisplay(void);
+	~DccdDisplay(void);
+	
+	void init(dccd::DccdHw* dccd_hw);
+	void cfg_debounce(uint16_t dbnc_time);
+	
+	uint8_t brigth_pwm;
+	uint8_t dimm_pwm;
+	
+	uint8_t next_image;
+	uint8_t next_lock_lvl;
+	uint16_t next_lock_time;
+	
+	void write(uint8_t image, uint8_t lock_lvl, uint16_t lock_time);
+	void write_percent(uint8_t percent, dspstyle_t style, uint8_t lock_lvl, uint16_t lock_time);
+	void force_backlight(uint8_t percent);
+	void process(void);
+
+	#ifdef TESTING
+	protected:
+	#endif
+	dccd::DccdHw* hardware;
+	
+	uint8_t act_image;
+	uint8_t act_lock_lvl;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_MODE_BTN_H_ */

firmware/src/dccd/handbrake.cpp

@@ -0,0 +1,175 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "handbrake.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::Handbrake::Handbrake(void)
+{
+	return;
+}
+
+dccd::Handbrake::~Handbrake(void)
+{
+	return;
+}
+
+void dccd::Handbrake::init(dccd::DccdHw* dccd_hw)
+{	
+	this->hardware = dccd_hw;
+	
+	this->latch_time_1 = 750;
+	this->latch_time_2 = 1500;
+	this->latch_time_3 = 3000;
+	this->mode = LATCH0;
+	this->is_new_mode = 0;
+	
+	this->is_active = 0;
+	
+	this->latch_act = 0;
+	this->start_ts = 0;
+}
+
+void dccd::Handbrake::cfg_debounce(uint16_t dbnc_time)
+{
+	this->hardware->handbrake.dbnc_lim = dbnc_time;
+}
+
+Handbrake::hbmode_t dccd::Handbrake::cycle_mode(void)
+{
+	switch(this->mode)
+	{
+		case LATCH0:
+		this->mode = LATCH1;
+		break;
+		
+		case LATCH1:
+		this->mode = LATCH2;
+		break;
+		
+		case LATCH2:
+		this->mode = LATCH3;
+		break;
+		
+		case LATCH3:
+		this->mode = LATCH0;
+		break;
+		
+		default:
+		this->mode = LATCH0;
+		break;
+	}
+	
+	this->is_new_mode = 1;
+	
+	return this->mode;
+}
+
+uint8_t dccd::Handbrake::process(void)
+{
+	uint16_t ts_now = this->hardware->counter.read();
+	
+	if(this->hardware->handbrake.state > 0)
+	{
+		if(this->hardware->handbrake.is_new)
+		{
+			this->hardware->handbrake.is_new = 0;
+			// Note start time
+			this->start_ts = ts_now;
+			this->latch_act = 1;
+		};
+		this->is_active = 1;
+	}
+	else if((this->latch_act != 0)&&(this->act_latch_time() != 0))
+	{
+		uint16_t td = util::time_delta(this->start_ts, ts_now);
+		uint32_t td_ms = this->hardware->counter.convert_ms(td);
+		if(td_ms >= this->act_latch_time())
+		{
+			this->latch_act = 0;
+			if(this->hardware->handbrake.state > 0) this->is_active = 1;
+			else this->is_active = 0;
+		};
+	}
+	else
+	{
+		this->is_active = 0;
+	}
+	
+	return this->is_active;
+}
+
+uint8_t dccd::Handbrake::get_mode_int(void)
+{
+	switch(this->mode)
+	{
+		case LATCH0:
+		return 0;
+		
+		case LATCH1:
+		return 1;
+		
+		case LATCH2:
+		return 2;
+		
+		case LATCH3:
+		return 3;
+		
+		default:
+		return 0;
+	}
+}
+
+void dccd::Handbrake::set_mode_int(uint8_t mode_int)
+{
+	switch(mode_int)
+	{
+		case 0:
+		this->mode = LATCH0;
+		break;
+		
+		case 1:
+		this->mode = LATCH1;
+		break;
+		
+		case 2:
+		this->mode = LATCH2;
+		break;
+		
+		case 3:
+		this->mode = LATCH3;
+		break;
+		
+		default:
+		this->mode = LATCH0;
+		break;
+	}
+}
+
+/**** Private function definitions ***/
+uint16_t dccd::Handbrake::act_latch_time(void)
+{
+	switch(this->mode)
+	{
+		case LATCH0:
+		return 0;
+		
+		case LATCH1:
+		return this->latch_time_1;
+		
+		case LATCH2:
+		return this->latch_time_2;
+		
+		case LATCH3:
+		return this->latch_time_3;
+		
+		default:
+		this->mode = LATCH0;
+		return 0;
+	}
+}

firmware/src/dccd/handbrake.h

@@ -0,0 +1,57 @@
+#ifndef DCCD_HANDBRAKE_H_
+#define DCCD_HANDBRAKE_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class Handbrake
+{
+	public:	
+	typedef enum
+	{
+		LATCH0 = 0,
+		LATCH1 = 1,
+		LATCH2 = 2,
+		LATCH3 = 3
+	}hbmode_t;
+		
+	Handbrake(void);
+	~Handbrake(void);
+	
+	void init(dccd::DccdHw* dccd_hw);
+	
+	hbmode_t mode;
+	uint16_t latch_time_1;
+	uint16_t latch_time_2;
+	uint16_t latch_time_3;
+	uint8_t is_new_mode;
+	
+	uint8_t is_active;
+		
+	uint8_t process(void);
+	void cfg_debounce(uint16_t dbnc_time);
+	hbmode_t cycle_mode(void);
+	uint8_t get_mode_int(void);
+	void set_mode_int(uint8_t mode_int);
+	
+	#ifdef TESTING
+	protected:
+	#endif
+	dccd::DccdHw* hardware;
+	uint8_t latch_act;
+	uint16_t start_ts;
+	uint16_t act_latch_time(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_HANDBRAKE_H_ */

firmware/src/dccd/memory.cpp

@@ -0,0 +1,257 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "memory.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+static uint16_t static_cfg_addr_offset = 0x0000;	//0-127
+static uint16_t dynamic_cgf_addr_offset = 0x0080;	//128+
+
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::Memory::Memory(void)
+{
+	return;
+}
+
+dccd::Memory::~Memory(void)
+{
+	return;
+}
+
+void dccd::Memory::init(dccd::DccdHw* dccd_hw)
+{	
+	this->hardware = dccd_hw;
+	this->read_from_nvmem();
+}
+
+void dccd::Memory::update(void)
+{
+	uint16_t addr = dynamic_cgf_addr_offset;
+	
+	if(this->dynamic_cfg.btn_force != this->dyn_cfg_shadow.btn_force)
+	{
+		this->hardware->board_hw.nvmem.write_8b(addr, this->dynamic_cfg.btn_force);
+		this->dyn_cfg_shadow.btn_force = this->dynamic_cfg.btn_force;
+	};
+	addr++;
+	
+	if(this->dynamic_cfg.tps_mode != this->dyn_cfg_shadow.tps_mode)
+	{
+		this->hardware->board_hw.nvmem.write_8b(addr, this->dynamic_cfg.tps_mode);
+		this->dyn_cfg_shadow.tps_mode = this->dynamic_cfg.tps_mode;
+	};
+	addr++;
+	
+	if(this->dynamic_cfg.hbrake_mode != this->dyn_cfg_shadow.hbrake_mode)
+	{
+		this->hardware->board_hw.nvmem.write_8b(addr, this->dynamic_cfg.hbrake_mode);
+		this->dyn_cfg_shadow.hbrake_mode = this->dynamic_cfg.hbrake_mode;
+	};
+	addr++;
+	
+	if(this->dynamic_cfg.brakes_mode != this->dyn_cfg_shadow.brakes_mode)
+	{
+		this->hardware->board_hw.nvmem.write_8b(addr, this->dynamic_cfg.brakes_mode);
+		this->dyn_cfg_shadow.brakes_mode = this->dynamic_cfg.brakes_mode;
+	};
+	addr++;
+}
+
+void dccd::Memory::read_static(staticmem_t* cfg_out)
+{
+	uint16_t addr = static_cfg_addr_offset;
+	
+	cfg_out->is_nvmem_cfg = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->inp_mode = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->hbrake_t1 = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->hbrake_t2 = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->hbrake_t3 = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->hbrake_dbnc = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->brakes_dnbc = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->tps_en = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->tps_on_th = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->tps_off_th = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->tps_timeout = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->tps_force_1 = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->tps_force_2 = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->tps_force_3 = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->hbrake_force = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->brakes_open_force = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->brakes_lock_force = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->coil_lock_current = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->coil_ccm_resistance = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->coil_cvm_resistance = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->coil_protection_dis = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->coil_cc_mode_en = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->dsp_brigth_pwm = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	cfg_out->dsp_dimm_pwm = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+}
+
+void dccd::Memory::write_static(staticmem_t* cfg_in)
+{
+	uint16_t addr = static_cfg_addr_offset;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->is_nvmem_cfg);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->inp_mode);;
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->hbrake_t1);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->hbrake_t2);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->hbrake_t3);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->is_nvmem_cfg);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->brakes_dnbc);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->tps_en);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->tps_on_th);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->tps_off_th);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->tps_timeout);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->tps_force_1);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->tps_force_2);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->tps_force_3);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->hbrake_force);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->brakes_open_force);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->brakes_lock_force);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->coil_lock_current);;
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->coil_ccm_resistance);;
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->coil_cvm_resistance);;
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->coil_protection_dis);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->coil_cc_mode_en);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->dsp_brigth_pwm);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, cfg_in->dsp_dimm_pwm);
+	addr++;
+}
+
+
+/**** Private function definitions ***/
+void dccd::Memory::read_from_nvmem(void)
+{
+	uint16_t addr = dynamic_cgf_addr_offset;
+	
+	this->dyn_cfg_shadow.btn_force = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	this->dyn_cfg_shadow.tps_mode = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	this->dyn_cfg_shadow.hbrake_mode = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	this->dyn_cfg_shadow.brakes_mode = this->hardware->board_hw.nvmem.read_8b(addr);
+	addr++;
+	
+	this->dynamic_cfg.btn_force = this->dyn_cfg_shadow.btn_force;
+	this->dynamic_cfg.tps_mode = this->dyn_cfg_shadow.tps_mode;
+	this->dynamic_cfg.hbrake_mode = this->dyn_cfg_shadow.hbrake_mode;
+	this->dynamic_cfg.brakes_mode = this->dyn_cfg_shadow.brakes_mode;
+}
+
+void dccd::Memory::write_to_nvmem(void)
+{
+	uint16_t addr = dynamic_cgf_addr_offset;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, this->dyn_cfg_shadow.btn_force);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, this->dyn_cfg_shadow.tps_mode);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, this->dyn_cfg_shadow.hbrake_mode);
+	addr++;
+	
+	this->hardware->board_hw.nvmem.write_8b(addr, this->dyn_cfg_shadow.brakes_mode);
+	addr++;
+}

firmware/src/dccd/memory.h

@@ -0,0 +1,76 @@
+#ifndef DCCD_MEMORY_H_
+#define DCCD_MEMORY_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class Memory
+{
+	public:
+	typedef struct{
+		uint8_t is_nvmem_cfg;
+		uint8_t inp_mode;
+		uint8_t hbrake_t1;
+		uint8_t hbrake_t2;
+		uint8_t hbrake_t3;
+		uint8_t hbrake_dbnc;
+		uint8_t hbrake_force;
+		uint8_t brakes_dnbc;
+		uint8_t brakes_open_force;
+		uint8_t brakes_lock_force;
+		uint8_t tps_en;
+		uint8_t tps_on_th;
+		uint8_t tps_off_th;
+		uint8_t tps_timeout;
+		uint8_t tps_force_1;
+		uint8_t tps_force_2;
+		uint8_t tps_force_3;
+		uint8_t coil_lock_current;
+		uint8_t coil_ccm_resistance;
+		uint8_t coil_cvm_resistance;
+		uint8_t coil_protection_dis;
+		uint8_t coil_cc_mode_en;
+		uint8_t dsp_brigth_pwm;
+		uint8_t dsp_dimm_pwm;
+	} staticmem_t;
+	
+	typedef struct{
+		uint8_t btn_force;
+		uint8_t tps_mode;
+		uint8_t hbrake_mode;
+		uint8_t brakes_mode;
+	} dynamicmem_t;
+	
+	Memory(void);
+	~Memory(void);
+	
+	void init(dccd::DccdHw* dccd_hw);
+	
+	dynamicmem_t dynamic_cfg;
+	
+	void update(void);
+	
+	void read_static(staticmem_t* cfg_out);
+	void write_static(staticmem_t* cfg_in);
+	
+	#ifdef TESTING
+	protected:
+	#endif
+	DccdHw* hardware;
+	dynamicmem_t dyn_cfg_shadow;
+	void read_from_nvmem(void);
+	void write_to_nvmem(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_MEMORY_H_ */

firmware/src/dccd/mode.cpp

@@ -0,0 +1,45 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mode.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::ModeBtn::ModeBtn(void)
+{
+	return;
+}
+
+dccd::ModeBtn::~ModeBtn(void)
+{
+	return;
+}
+
+void dccd::ModeBtn::init(dccd::DccdHw* dccd_hw)
+{	
+	this->hardware = dccd_hw;
+	
+	this->btn_repeat_time = 0;
+	this->is_new = 0;
+}
+
+void dccd::ModeBtn::cfg_debounce(uint16_t dbnc_time)
+{
+	this->hardware->btn_mode.dbnc_lim = dbnc_time;
+}
+
+void dccd::ModeBtn::process(void)
+{	
+	if((this->hardware->btn_mode.state==1)&&((this->hardware->btn_mode.is_new)||((this->hardware->btn_mode.time_read() >= this->btn_repeat_time)&&(this->btn_repeat_time!=0))))
+	{
+		this->hardware->btn_mode.time_reset();
+		this->hardware->btn_mode.is_new = 0;
+		this->is_new = 1;
+	};
+}
+
+/**** Private function definitions ***/

firmware/src/dccd/mode.h

@@ -0,0 +1,39 @@
+#ifndef DCCD_MODE_BTN_H_
+#define DCCD_MODE_BTN_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class ModeBtn
+{
+	public:	
+	ModeBtn(void);
+	~ModeBtn(void);
+	
+	void init(dccd::DccdHw* dccd_hw);
+	void cfg_debounce(uint16_t dbnc_time);
+	
+	uint16_t btn_repeat_time;
+	
+	uint8_t is_new;
+	
+	void process(void);
+
+	#ifdef TESTING
+	protected:
+	#endif
+	dccd::DccdHw* hardware;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_MODE_BTN_H_ */

firmware/src/dccd/tps.cpp

@@ -0,0 +1,158 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "tps.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::Thtrottle::Thtrottle(void)
+{
+	return;
+}
+
+dccd::Thtrottle::~Thtrottle(void)
+{
+	return;
+}
+
+void dccd::Thtrottle::init(dccd::DccdHw* dccd_hw)
+{	
+	this->hardware = dccd_hw;
+	
+	this->treshold_on = 55;
+	this->treshold_off = 45;
+	this->timeout_time = 0;
+	this->start_ts = 0;
+	this->is_timed_out = 0;
+	
+	this->mode = MODE0;
+	this->is_new_mode = 0;
+	
+	this->is_new = 0;
+	this->active = 0;
+}
+
+Thtrottle::tpsmode_t dccd::Thtrottle::cycle_mode(void)
+{
+	switch(this->mode)
+	{
+		case MODE0:
+		this->mode = MODE1;
+		break;
+		
+		case MODE1:
+		this->mode = MODE2;
+		break;
+		
+		case MODE2:
+		this->mode = MODE3;
+		break;
+		
+		case MODE3:
+		this->mode = MODE0;
+		break;
+		
+		default:
+		this->mode = MODE0;
+		break;
+	}
+	
+	this->is_new_mode = 1;
+	
+	return this->mode;
+}
+
+void dccd::Thtrottle::process(void)
+{
+	uint16_t ts_now = this->hardware->counter.read();
+	
+	if(this->active)
+	{
+		uint16_t td = util::time_delta(this->start_ts, ts_now);
+		uint32_t td_ms = this->hardware->counter.convert_ms(td);
+		
+		if((td_ms >= this->timeout_time)&&(this->timeout_time != 0))
+		{
+			this->is_timed_out = 1;
+			this->is_new = 1;
+		};
+		
+		if(this->hardware->pot.last_percent <= this->treshold_off)
+		{
+			this->active = 0;
+			this->is_timed_out = 0;
+			this->start_ts = 0;
+			this->is_new = 1;
+		}
+		else this->active = 1;
+	}
+	else
+	{
+		if(this->hardware->pot.last_percent >= this->treshold_on)
+		{
+			this->start_ts = ts_now;
+			this->active = 1;
+			this->is_new = 1;
+		}
+		else this->active = 0;
+	}
+}
+
+uint8_t dccd::Thtrottle::get_mode_int(void)
+{
+	switch(this->mode)
+	{
+		case MODE0:
+		return 0;
+		
+		case MODE1:
+		return 1;
+		
+		case MODE2:
+		return 2;
+		
+		case MODE3:
+		return 3;
+		
+		default:
+		return 0;
+	}
+}
+
+void dccd::Thtrottle::set_mode_int(uint8_t mode_int)
+{
+	switch(mode_int)
+	{
+		case 0:
+		this->mode = MODE0;
+		break;
+		
+		case 1:
+		this->mode = MODE1;
+		break;
+		
+		case 2:
+		this->mode = MODE2;
+		break;
+		
+		case 3:
+		this->mode = MODE3;
+		break;
+		
+		default:
+		this->mode = MODE0;
+		break;
+	}
+}
+
+uint8_t dccd::Thtrottle::is_active(void)
+{
+	if(this->is_timed_out) return 0;
+	else return this->active;
+}
+
+/**** Private function definitions ***/

firmware/src/dccd/tps.h

@@ -0,0 +1,58 @@
+#ifndef DCCD_TPS_H_
+#define DCCD_TPS_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class Thtrottle
+{
+	public:	
+	typedef enum
+	{
+		MODE0 = 0,
+		MODE1 = 1,
+		MODE2 = 2,
+		MODE3 = 3
+	}tpsmode_t;
+	
+	Thtrottle(void);
+	~Thtrottle(void);
+	
+	void init(dccd::DccdHw* dccd_hw);
+	
+	uint8_t treshold_on;
+	uint8_t treshold_off;
+	uint16_t timeout_time;
+	
+	tpsmode_t mode;
+	uint8_t is_new_mode;
+	
+	uint8_t is_new;
+	uint8_t is_active(void);
+	
+	void process(void);
+	tpsmode_t cycle_mode(void);
+	uint8_t get_mode_int(void);
+	void set_mode_int(uint8_t mode_int);
+
+	#ifdef TESTING
+	protected:
+	#endif
+	dccd::DccdHw* hardware;
+	uint16_t start_ts;
+	uint8_t is_timed_out;
+	uint8_t active;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_TPS_H_ */

firmware/src/dccd/user_force.cpp

@@ -0,0 +1,86 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "user_force.h"
+
+using namespace dccd;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+dccd::UserForce::UserForce(void)
+{
+	return;
+}
+
+dccd::UserForce::~UserForce(void)
+{
+	return;
+}
+
+void dccd::UserForce::init(dccd::DccdHw* dccd_hw)
+{	
+	this->hardware = dccd_hw;
+	
+	this->is_new_btn_force = 0;
+	this->btn_repeat_time = 0;
+	this->force = 0;
+	this->pot_mode = 0;
+	this->btn_force = 0;
+	this->btn_step = 20;
+}
+
+void dccd::UserForce::cfg_debounce(uint16_t dbnc_time)
+{
+	this->hardware->btn_up.dbnc_lim = dbnc_time;
+	this->hardware->btn_down.dbnc_lim = dbnc_time;
+}
+
+void dccd::UserForce::cfg_pot(uint16_t dead_bot, uint16_t dead_top)
+{
+	if(this->pot_mode==0) return;
+	this->hardware->pot.high_deadzone = dead_top;
+	this->hardware->pot.low_deadzone = dead_bot;
+}
+
+void dccd::UserForce::write_force(uint8_t force)
+{
+	if(force > 100) force = 100;
+	this->btn_force = force;
+	this->force = force;
+}
+
+uint8_t dccd::UserForce::process(void)
+{
+	if(this->pot_mode)
+	{
+		this->force = this->hardware->pot.last_percent;
+		return this->force;
+	};
+	
+	if((this->hardware->btn_up.state==1)&&((this->hardware->btn_up.is_new)||((this->hardware->btn_up.time_read() >= this->btn_repeat_time)&&(this->btn_repeat_time!=0))))
+	{
+		this->hardware->btn_up.time_reset();
+		this->hardware->btn_up.is_new = 0;
+		// Increase user force
+		this->btn_force += this->btn_step;
+		if(this->btn_force > 100) this->btn_force = 100;
+		is_new_btn_force = 1;
+	};
+	
+	if((this->hardware->btn_down.state==1)&&((this->hardware->btn_down.is_new)||((this->hardware->btn_down.time_read() >= this->btn_repeat_time)&&(this->btn_repeat_time!=0))))
+	{
+		this->hardware->btn_down.time_reset();
+		this->hardware->btn_down.is_new = 0;
+		// Decrease user force
+		this->btn_force -= this->btn_step;
+		if(this->btn_force > 100) this->btn_force = 0;
+		is_new_btn_force = 1;
+	};
+
+	this->force = this->btn_force;
+	return this->force;
+}
+
+/**** Private function definitions ***/

firmware/src/dccd/user_force.h

@@ -0,0 +1,45 @@
+#ifndef DCCD_USER_FORCE_H_
+#define DCCD_USER_FORCE_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "dccd_hw.h"
+
+namespace dccd {
+
+/**** Public definitions ****/
+class UserForce
+{
+	public:	
+	UserForce(void);
+	~UserForce(void);
+	
+	void init(dccd::DccdHw* dccd_hw);
+	void cfg_debounce(uint16_t dbnc_time);
+	void cfg_pot(uint16_t dead_bot, uint16_t dead_top);
+	
+	uint16_t btn_repeat_time;
+	uint8_t pot_mode;
+	uint8_t btn_step;
+	
+	uint8_t force;
+	uint8_t is_new_btn_force;
+	
+	uint8_t process(void);
+	void write_force(uint8_t force);
+	
+	#ifdef TESTING
+	protected:
+	#endif
+	dccd::DccdHw* hardware;
+	uint8_t btn_force;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_USER_FORCE_H_ */

firmware/src/hw/button.cpp

@@ -0,0 +1,116 @@
+/**** 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(void)
+{
+	return;
+}
+
+hw::Button::~Button(void)
+{
+	return;
+}
+
+void hw::Button::init(bsp::DigitalIn* din_ch, uint8_t act_lvl, util::VCounter* timer, uint16_t dbnc_lim)
+{
+	this->din_ch = din_ch;
+	this->timer = timer;
+	
+	if(act_lvl) this->act_lvl = 1;
+	else this->act_lvl = 0;
+	
+	this->state_start_ts = 0;
+	this->dbnc_ts = 0;
+	this->dbnc_lim = dbnc_lim;
+	
+	this->state = BUTTON_OFF;
+	this->is_new = 0;
+}
+
+uint8_t hw::Button::process(void)
+{
+	// Read din
+	if(this->update_din) this->din_ch->read();
+	
+	// Get last read level
+	uint8_t lvl = this->din_ch->last_read;
+	
+	// Determine next state
+	uint8_t next_state = BUTTON_OFF;
+	if(lvl==this->act_lvl) next_state = BUTTON_ON;
+	
+	// Advance debounce sample counter
+	uint16_t ts_now = this->timer->read();
+	
+	if(next_state != this->state)
+	{
+		if(this->dbnc_ts == 0) this->dbnc_ts = ts_now;
+		uint16_t td = util::time_delta(this->dbnc_ts, ts_now);
+		uint32_t td_ms = this->timer->convert_ms(td);
+		// Check for debounce end
+		if(td_ms >= this->dbnc_lim) 
+		{
+			// Debounce end. Apply new state.
+			this->dbnc_ts = 0;
+			this->state = next_state;
+			this->state_start_ts = ts_now;
+			this->is_new = 1;
+		};
+	}
+	else this->dbnc_ts = 0;
+
+	return this->state;
+}
+
+uint8_t hw::Button::force_read(void)
+{
+	// Read din
+	if(this->update_din) this->din_ch->read();
+	
+	// Get last read level
+	uint8_t lvl = this->din_ch->last_read;
+	
+	// Cancels active debounce
+	this->dbnc_ts = 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_start_ts = this->timer->read();
+		this->state = next_state;
+		this->is_new = 1;
+	};
+	
+	return this->state;
+}
+
+uint32_t hw::Button::time_read(void)
+{
+	uint16_t ts_now = this->timer->read();
+	uint16_t td = util::time_delta(this->state_start_ts, ts_now);
+	return this->timer->convert_ms(td);
+}
+
+void hw::Button::time_reset(void)
+{
+	this->state_start_ts = this->timer->read();
+}
+
+uint32_t hw::Button::time_read_max(void)
+{
+	uint16_t ts_max = this->timer->read_top();
+	return this->timer->convert_ms(ts_max);
+}
+
+/**** Private function definitions ****/

firmware/src/hw/button.h

@@ -0,0 +1,49 @@
+#ifndef BUTTONS_H_
+#define BUTTONS_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../utils/vcounter.h"
+#include "../bsp/board.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+const uint8_t BUTTON_OFF = 0;
+const uint8_t BUTTON_ON  = 1;
+
+class Button
+{
+	public:
+	Button(void);
+	~Button(void);
+	
+	uint8_t state;
+	uint16_t dbnc_lim;
+	uint8_t is_new;
+	uint8_t update_din;
+	
+	void init(bsp::DigitalIn* din_ch, uint8_t act_lvl, util::VCounter* timer, uint16_t dbnc_lim);
+	uint8_t process(void);
+	uint8_t force_read(void);
+	uint32_t time_read(void);
+	void time_reset(void);
+	uint32_t time_read_max(void);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+	bsp::DigitalIn* din_ch;
+	util::VCounter* timer;
+	uint8_t act_lvl;
+	uint16_t state_start_ts;
+	uint16_t dbnc_ts;
+};
+
+/**** Public function declarations ****/
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* BUTTONS_H_ */

firmware/src/hw/led_display.cpp

@@ -0,0 +1,160 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "led_display.h"
+
+using namespace hw;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+hw::LedDisplay::LedDisplay(void)
+{
+	return;
+}
+
+hw::LedDisplay::~LedDisplay(void)
+{
+	this->force(0x00);
+	this->write_backlight(0);
+}
+
+void hw::LedDisplay::init(doutCfg_t* dout_chs, uint8_t act_lvl, util::VCounter* timer, bsp::PwmOut* pwm_ch)
+{
+	this->led0_dout_ch = dout_chs->led0_dout_ch;
+	this->led1_dout_ch = dout_chs->led1_dout_ch;
+	this->led2_dout_ch = dout_chs->led2_dout_ch;
+	this->led3_dout_ch = dout_chs->led3_dout_ch;
+	this->led4_dout_ch = dout_chs->led4_dout_ch;
+	this->led5_dout_ch = dout_chs->led5_dout_ch;
+	
+	if(act_lvl) this->act_lvl = 1;
+	else this->act_lvl = 0;
+	
+	this->timer = timer;
+	
+	this->pwm_ch = pwm_ch;
+	
+	this->on_time = 0;
+	this->period = 0;
+	this->cycle_cnt = 0;
+	this->cycle_limit = 0;
+	this->timestamp_start = 0;
+	this->image = 0x00;
+	
+	this->force(0x00);
+	this->write_backlight(0);
+}
+
+void hw::LedDisplay::force(uint8_t image)
+{
+	uint8_t led_state;
+	
+	if(image&0x01) led_state = 1;
+	else led_state = 0;
+	this->set_single_led(led_state, this->led0_dout_ch);
+	
+	if(image&0x02) led_state = 1;
+	else led_state = 0;
+	this->set_single_led(led_state, this->led1_dout_ch);
+	
+	if(image&0x04) led_state = 1;
+	else led_state = 0;
+	this->set_single_led(led_state, this->led2_dout_ch);
+	
+	if(image&0x08) led_state = 1;
+	else led_state = 0;
+	this->set_single_led(led_state, this->led3_dout_ch);
+	
+	if(image&0x10) led_state = 1;
+	else led_state = 0;
+	this->set_single_led(led_state, this->led4_dout_ch);
+	
+	if(image&0x20) led_state = 1;
+	else led_state = 0;
+	this->set_single_led(led_state, this->led5_dout_ch);
+}
+
+void hw::LedDisplay::write(uint8_t image)
+{
+	// Static mode
+	this->on_time = 1;
+	this->period = 0;
+	this->cycle_cnt = 0;
+	this->cycle_limit = 0;
+	this->timestamp_start = 0;
+	this->image = image;
+	
+	// Set initial state
+	this->force(this->image);
+}
+
+void hw::LedDisplay::write(uint8_t image, uint16_t on_time, uint16_t period, uint8_t cycle_limit)
+{
+	// "PWM" mode
+	this->on_time = on_time;
+	this->period = period;
+	this->cycle_cnt = 0;
+	this->cycle_limit = cycle_limit;
+	this->image = image;
+	
+	// Set initial state
+	if(this->on_time > 0) this->force(this->image);
+	else this->force(0x00);
+	
+	// Cycle start time
+	this->timestamp_start = this->timer->read();
+}
+
+void hw::LedDisplay::process(void)
+{
+	if(this->period == 0) return; // Nothing to do
+	
+	// Update cycle timing
+	uint16_t ts_now = this->timer->read();
+	uint16_t td = util::time_delta(this->timestamp_start, ts_now);
+	uint32_t td_ms = this->timer->convert_ms(td);
+	
+	if(td_ms >= this->period)
+	{
+		this->timestamp_start = ts_now;
+		this->cycle_cnt++;
+	};
+	
+	// Check cycle limit
+	if((this->cycle_cnt >= this->cycle_limit)&&(this->cycle_limit))
+	{
+		this->on_time = 0;
+		this->period = 0;
+		this->timestamp_start = 0;
+		this->force(0x00);
+		return;
+	};
+	
+	// Do output compare
+	if(td_ms < this->on_time) this->force(this->image);
+	else this->force(0x00);
+}
+
+uint8_t hw::LedDisplay::is_cycle_end(void)
+{
+	if(this->cycle_cnt >= this->cycle_limit) return 1;
+	else return 0; 
+}
+
+void hw::LedDisplay::write_backlight(uint8_t percent)
+{
+	this->pwm_ch->write(percent);
+}
+
+void hw::LedDisplay::set_single_led(uint8_t state, bsp::DigitalOut* led_ch)
+{
+	uint8_t lvl = 0;
+	
+	if(((state==0)&&(this->act_lvl==0))||((state!=0)&&(this->act_lvl==1))) lvl = 1;
+	
+	led_ch->write(lvl);
+}
+
+/**** Private function definitions ***/

firmware/src/hw/led_display.h

@@ -0,0 +1,66 @@
+#ifndef LED_DISPLAY_H_
+#define LED_DISPLAY_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../utils/vcounter.h"
+#include "../bsp/board.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+class LedDisplay
+{
+	public:
+	typedef struct {
+		bsp::DigitalOut* led0_dout_ch;
+		bsp::DigitalOut* led1_dout_ch;
+		bsp::DigitalOut* led2_dout_ch;
+		bsp::DigitalOut* led3_dout_ch;
+		bsp::DigitalOut* led4_dout_ch;
+		bsp::DigitalOut* led5_dout_ch;
+	} doutCfg_t;
+	
+	LedDisplay(void);
+	~LedDisplay(void);
+	
+	uint16_t on_time;
+	uint16_t period;
+	uint8_t cycle_cnt;
+	uint8_t cycle_limit;
+	
+	void init(doutCfg_t* dout_chs, uint8_t act_lvl, util::VCounter* timer, bsp::PwmOut* pwm_ch);
+	void write(uint8_t image);
+	void write(uint8_t image, uint16_t on_time, uint16_t period, uint8_t cycle_limit);
+	void process(void);
+	uint8_t is_cycle_end(void);
+	void force(uint8_t image);
+	
+	void write_backlight(uint8_t percent);
+	
+	#ifdef TESTING
+	protected:
+	#endif
+	bsp::DigitalOut* led0_dout_ch;
+	bsp::DigitalOut* led1_dout_ch;
+	bsp::DigitalOut* led2_dout_ch;
+	bsp::DigitalOut* led3_dout_ch;
+	bsp::DigitalOut* led4_dout_ch;
+	bsp::DigitalOut* led5_dout_ch;
+	uint8_t act_lvl;
+	util::VCounter* timer;
+	bsp::PwmOut* pwm_ch;
+	uint16_t timestamp_start;
+	uint8_t image;
+	
+	void set_single_led(uint8_t state, bsp::DigitalOut* led_ch);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* LED_DISPLAY_H_ */

firmware/src/hw/out_driver.cpp

@@ -0,0 +1,105 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "out_driver.h"
+
+using namespace hw;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+hw::OutDriver::OutDriver(void)
+{
+	return;
+}
+
+hw::OutDriver::~OutDriver(void)
+{
+	return;
+}
+
+void hw::OutDriver::init(bsp::PwmOut* pwm_high, bsp::DigitalOut* dout_low)
+{
+	this->pwm_high = pwm_high;
+	this->dout_low = dout_low;
+	
+	this->target_duty = 0;
+	this->target_low = 0;
+	this->disabled = 1;
+}
+
+void hw::OutDriver::write(uint16_t numerator)
+{	
+	this->target_duty = numerator;
+	this->target_low = 1;
+	
+	// Check if enabled
+	if(this->disabled)
+	{
+		return;
+	};
+	
+	// Set low side
+	if(this->dout_low->last_writen == 0)
+	{
+		this->dout_low->write(this->target_low);
+	};
+	
+	// Set PWM
+	this->pwm_high->write(this->target_duty);
+}
+
+void hw::OutDriver::write(uint8_t percent)
+{
+	// Convert to numerator/0xFFFF
+	this->write(util::percent_to_16b(percent));
+}
+
+void hw::OutDriver::write_hiz(void)
+{
+	this->target_duty = 0;
+	this->target_low = 0;
+	
+	// Check if enabled
+	if(this->disabled)
+	{
+		return;
+	};
+	
+	// Set PWM
+	this->pwm_high->write((uint16_t)0);
+	
+	// Set low side
+	this->dout_low->write(0);
+}
+
+void hw::OutDriver::enable(void)
+{
+	if(this->disabled==0) return;
+	this->disabled = 0;
+	
+	if(this->target_low==0) this->write_hiz();
+	else this->write(this->target_duty);
+}
+
+void hw::OutDriver::disable(void)
+{
+	if(this->disabled!=0) return;
+	
+	// Set PWM
+	this->pwm_high->write((uint16_t)0);
+	
+	// Set low side
+	this->dout_low->write(0);
+	
+	this->disabled = 1;
+}
+
+uint8_t hw::OutDriver::is_disabled(void)
+{
+	return this->disabled;
+}
+
+/**** Private function definitions ****/

firmware/src/hw/out_driver.h

@@ -0,0 +1,45 @@
+#ifndef OUT_DRIVER_H_
+#define OUT_DRIVER_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/board.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class OutDriver
+{	
+	public:
+	OutDriver(void);
+	~OutDriver(void);
+	
+	void init(bsp::PwmOut* pwm_high, bsp::DigitalOut* dout_low);
+	
+	uint16_t target_duty;
+	uint8_t target_low;
+	
+	void write(uint16_t numerator);
+	void write(uint8_t percent);
+	void write_hiz(void);
+	void enable(void);
+	void disable(void);
+	uint8_t is_disabled(void);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+	bsp::PwmOut* pwm_high;
+	bsp::DigitalOut* dout_low;
+	uint8_t disabled;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* OUT_DRIVER_H_ */

firmware/src/hw/out_reg.cpp

@@ -0,0 +1,139 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "out_reg.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+hw::OutReg::OutReg(void)
+{
+	return;
+}
+
+hw::OutReg::~OutReg(void)
+{
+	return;
+}
+
+void hw::OutReg::init(outRegCfg_t* cfg)
+{
+	this->pwm_high = cfg->pwm_high;
+	this->dout_low = cfg->dout_low;
+	this->ubat = cfg->ubat;
+	this->uout = cfg->uout;
+	this->iout = cfg->iout;
+	
+	this->voltage = 0;
+	this->current = 0;
+	this->out_on = 0;
+	this->lock = 0;
+	
+	this->cc_mode_en = 0;
+	this->update_ain = 0;
+	this->cc_tolerance = 75;
+}
+
+void hw::OutReg::write_voltage(uint16_t voltage)
+{
+	this->voltage = voltage;
+}
+
+void hw::OutReg::write_current(uint16_t current)
+{
+	this->current = current;
+	this->current_bot = util::sat_subtract(current, this->cc_tolerance);
+	this->current_top = util::sat_add(current, this->cc_tolerance);
+}
+
+void hw::OutReg::write_on(uint8_t state)
+{
+	this->out_on = state;
+}
+
+void hw::OutReg::write_lock(uint8_t state)
+{
+	this->lock = state;
+}
+
+uint16_t hw::OutReg::read_voltage(void)
+{
+	return this->voltage;
+}
+
+uint16_t hw::OutReg::read_current(void)
+{
+	return this->current;
+}
+
+void hw::OutReg::process(void)
+{
+	// Update analog input
+	if(this->update_ain)
+	{
+		this->ubat->read();
+		this->uout->read();
+		this->iout->read();
+	};
+	
+	// Check if turned off
+	if((out_on == 0)||(this->lock != 0))
+	{
+		
+		this->pwm_high->write((uint16_t)0);
+		this->dout_low->write(0);
+		return;
+	}
+	else if(this->dout_low->last_writen == 0)
+	{
+		this->dout_low->write(1);
+	};
+
+	// Calculate next duty cycle setting
+	uint16_t next_duty = this->pwm_high->get_set_duty();
+	
+	if((this->voltage==0)||(this->current==0))
+	{
+		// Off but not HiZ
+		next_duty = 0;
+	}
+	else if((this->cc_mode_en)&&(this->iout->last_read > this->current_bot))
+	{
+		// Constant current mode - Change voltage to be within current limit
+		if(util::is_in_range(this->iout->last_read, this->current_bot, this->current_top)==0)
+		{
+			// Current outside of tolerance. Recalculate duty cycle.
+			uint32_t temp = (uint32_t)this->pwm_high->get_set_duty() * (uint32_t)this->current;
+			temp /= this->iout->last_read;
+			next_duty = util::sat_cast(temp);
+		};
+	}
+	else
+	{
+		// Constant voltage mode
+		next_duty = util::sat_ratio(this->voltage, this->ubat->last_read);
+	}
+	
+	this->pwm_high->write(next_duty);
+	
+	return;
+}
+
+void hw::OutReg::force_off(void)
+{
+	// Turn off output - HiZ
+	this->pwm_high->write((uint16_t)0);
+	this->dout_low->write(0);
+	
+	// Update targets
+	this->voltage = 0;
+	this->current = 0;
+	this->out_on = 0;
+	this->lock = 1;
+}
+
+/**** Private function definitions ****/

firmware/src/hw/out_reg.h

@@ -0,0 +1,66 @@
+#ifndef OUTPUT_REGULATOR_H_
+#define OUTPUT_REGULATOR_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/board.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class OutReg
+{
+	public:
+	typedef struct {
+		bsp::PwmOut* pwm_high;
+		bsp::DigitalOut* dout_low;
+		bsp::AnalogIn* ubat;
+		bsp::AnalogIn* uout;
+		bsp::AnalogIn* iout;
+	} outRegCfg_t;
+	
+	OutReg(void);
+	~OutReg(void);
+	
+	void init(outRegCfg_t* cfg);
+	
+	uint8_t cc_mode_en;
+	uint8_t update_ain;
+	uint16_t cc_tolerance;
+	
+	void write_voltage(uint16_t voltage);
+	void write_current(uint16_t current);
+	void write_on(uint8_t state);
+	void write_lock(uint8_t state);
+	
+	uint16_t read_voltage(void);
+	uint16_t read_current(void);
+	
+	void process(void);
+	void force_off(void);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+	bsp::PwmOut* pwm_high;
+	bsp::DigitalOut* dout_low;
+	bsp::AnalogIn* ubat;
+	bsp::AnalogIn* uout;
+	bsp::AnalogIn* iout;
+	uint16_t voltage;
+	uint16_t current;
+	uint16_t current_top;
+	uint16_t current_bot;
+	uint8_t out_on;
+	uint8_t lock;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* OUTPUT_REGULATOR_H_ */

firmware/src/hw/potentiometer.cpp

@@ -0,0 +1,46 @@
+/**** 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(void)
+{
+	return;
+}
+
+hw::Potentiometer::~Potentiometer(void)
+{
+	return;
+}
+
+void hw::Potentiometer::init(bsp::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->last_percent = 0;
+	this->update_ain = 1;
+}
+
+uint8_t hw::Potentiometer::read(void)
+{
+	// Update analog input
+	if(this->update_ain) this->ain_ch->read();
+	
+	// Calculate percent
+	if(this->ain_ch->last_read <= this->low_deadzone) this->last_percent = 0;
+	else if(this->ain_ch->last_read >= this->high_deadzone ) this->last_percent = 100;
+	else this->last_percent = util::interpolate(this->ain_ch->last_read, this->low_deadzone, this->high_deadzone, 0, 100);
+	
+	return this->last_percent;
+}
+
+/**** Private function definitions ****/

firmware/src/hw/potentiometer.h

@@ -0,0 +1,40 @@
+#ifndef POTENTIOMETER_H_
+#define POTENTIOMETER_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/board.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class Potentiometer
+{	
+	public:
+	Potentiometer(void);
+	~Potentiometer(void);
+	
+	void init(bsp::AnalogIn* ain_ch, uint16_t low_deadzone, uint16_t high_deadzone);
+	
+	uint16_t low_deadzone;
+	uint16_t high_deadzone;
+	uint8_t last_percent;
+	uint8_t update_ain;
+	
+	uint8_t read(void);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+	bsp::AnalogIn* ain_ch;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* POTENTIOMETER_H_ */

firmware/src/hw/safe_ain.cpp

@@ -0,0 +1,107 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "safe_ain.h"
+
+using namespace hw;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+hw::SafeAin::SafeAin(void)
+{
+	return;
+}
+
+hw::SafeAin::~SafeAin(void)
+{
+	return;
+}
+
+void hw::SafeAin::init(bsp::AnalogIn* ain_ch, util::VCounter* timer)
+{
+	this->ain_ch = ain_ch;
+	this->timer = timer;
+	
+	this->under_treshold = 0;
+	this->over_treshold = 0xFFFF;
+	this->hold_time = 0;
+	this->cooldown_time = 0;
+	
+	this->update_ain = 0;
+	this->auto_reset = 0;
+	
+	this->warning = 0;
+	this->fault = 0;
+	
+	this->last_read = 0;
+	
+	this->ts_state_chnage = 0;
+}
+
+void hw::SafeAin::process(void)
+{
+	// Update analog input
+	if(this->update_ain) this->ain_ch->read();
+	
+	this->last_read = this->ain_ch->last_read;
+	
+	// Get current time
+	uint16_t ts_now = this->timer->read();
+	
+	// Update over current and warning condition
+	uint8_t is_outside = 0;
+	if(this->last_read < this->under_treshold) is_outside = 1;
+	if(this->last_read > this->over_treshold) is_outside = 1;
+	
+	// Note start time if new OC condition
+	if((is_outside!=0)&&(this->warning==0))
+	{
+		this->ts_state_chnage = ts_now;
+	};
+	
+	// Update warning
+	if(this->warning)
+	{
+		if(is_outside == 0)
+		{
+			this->warning = 0;
+		};
+	}
+	else
+	{
+		if(is_outside == 1)
+		{
+			this->warning = 1;
+		};
+	}
+	
+	//this->warning = is_outside;
+	
+	if((this->warning==0)&&(this->fault==0)) return;
+	
+	// Calculate warning condition time
+	uint16_t td = util::time_delta(this->ts_state_chnage, ts_now);
+	uint32_t time_ms = this->timer->convert_ms(td);
+	
+	// Check for fault set
+	if((this->fault==0)&&(time_ms > (uint32_t)this->hold_time)&&(this->warning!=0))
+	{
+		this->fault = 1;
+		return;
+	};
+	
+	// Check if allowed auto reset
+	if(this->auto_reset==0) return;
+	
+	// Check for fault reset
+	if((this->fault!=0)&&(time_ms > (uint32_t)this->cooldown_time))
+	{
+		this->fault = 0;
+		return;
+	};
+}
+
+/**** Private function definitions ****/

firmware/src/hw/safe_ain.h

@@ -0,0 +1,50 @@
+#ifndef SAFE_AIN_H_
+#define SAFE_AIN_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../utils/vcounter.h"
+#include "../bsp/board.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class SafeAin
+{	
+	public:
+	SafeAin(void);
+	~SafeAin(void);
+	
+	void init(bsp::AnalogIn* ain_ch, util::VCounter* timer);
+	
+	uint8_t warning;
+	uint8_t fault;
+	uint16_t last_read;
+	
+	uint16_t under_treshold;
+	uint16_t over_treshold;
+	uint16_t hold_time;
+	uint16_t cooldown_time;
+	
+	uint8_t update_ain;
+	uint8_t auto_reset;
+	
+	void process(void);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+	bsp::AnalogIn* ain_ch;
+	util::VCounter* timer;
+	uint16_t ts_state_chnage;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* SAFE_AIN_H_ */

firmware/src/main.cpp

@@ -0,0 +1,75 @@
+/**** Includes ****/
+#include "utils/utils.h"
+
+#include "dccd/dccd_hw.h"
+#include "dccd/dccd.h"
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+static dccd::DccdHw dccd_hw;
+static dccd::DccdApp dccd_app;
+static dccd::DccdApp::cfg_app_t def_cfg;
+
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+int main(void)
+{
+	// Hardware setup
+	dccd::DccdHw::dccdHwCfg_t cfg;
+	cfg.handbrake_pull_up = 1;
+	cfg.pwm_f_khz = 16;
+	cfg.speed_hall = 0;
+	cfg.counter_step_us = 2000;
+	dccd_hw.init(&cfg);
+	
+	// App default config
+	def_cfg.user_btn_dbnc = 10;
+	def_cfg.user_btn_repeat_time = 500;
+	def_cfg.pot_mode = 1;
+	def_cfg.btn_step = 10;
+	def_cfg.mode_btn_repeat_time = 700;
+	def_cfg.tps_treshold_on = 65;
+	def_cfg.tps_treshold_off = 55;
+	def_cfg.tps_timeout = 0;
+	def_cfg.hbrake_latch_time_1 = 750;
+	def_cfg.hbrake_latch_time_2 = 1500;
+	def_cfg.hbrake_latch_time_3 = 3000;
+	def_cfg.hbrake_dbnc = 100;
+	def_cfg.brakes_dbnc = 100;
+	def_cfg.coil_lock_current = 4500;
+	def_cfg.coil_ref_resistance = 1500;
+	def_cfg.coil_out_max_resistance = 2000;
+	def_cfg.coil_out_min_resistance = 1000;
+	def_cfg.coil_disable_protection = 1;
+	def_cfg.coil_cc_mode = 1;
+	def_cfg.dsp_brigth_pwm = 40;
+	def_cfg.dsp_dimm_pwm = 25;
+	def_cfg.hbrake_force = -1;
+	def_cfg.brakes_open_force = -1;
+	def_cfg.brakes_lock_force = 100;
+	def_cfg.tps_enabled = 0;
+	def_cfg.tps_force_1 = 60;
+	def_cfg.tps_force_2 = 80;
+	def_cfg.tps_force_3 = 100;
+	def_cfg.dsp_mode_lock_time = 2000;
+	def_cfg.dsp_force_lock_time = 1000;
+	def_cfg.force_def_config = 0;
+	
+	// App setup
+	dccd_app.init(&dccd_hw, &def_cfg);
+	
+	// Super loop
+	while(1)
+	{	
+		// Do stuff
+		dccd_app.process();
+		// End of super loop
+		continue; 
+	}
+	
+	// Escape the matrix
+	return 0;
+}
+
+/**** Private function definitions ***/

firmware/src/uDCCD.atsln

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

firmware/src/uDCCD.componentinfo.xml

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Store xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns="AtmelPackComponentManagement">
+	<ProjectComponents>
+		<ProjectComponent z:Id="i1" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/">
+			<CApiVersion></CApiVersion>
+			<CBundle></CBundle>
+			<CClass>Device</CClass>
+			<CGroup>Startup</CGroup>
+			<CSub></CSub>
+			<CVariant></CVariant>
+			<CVendor>Atmel</CVendor>
+			<CVersion>1.7.0</CVersion>
+			<DefaultRepoPath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs</DefaultRepoPath>
+			<DependentComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays" />
+			<Description></Description>
+			<Files xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\include\</AbsolutePath>
+					<Attribute></Attribute>
+					<Category>include</Category>
+					<Condition>C</Condition>
+					<FileContentHash i:nil="true" />
+					<FileVersion></FileVersion>
+					<Name>include/</Name>
+					<SelectString></SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\include\avr\iom328pb.h</AbsolutePath>
+					<Attribute></Attribute>
+					<Category>header</Category>
+					<Condition>C</Condition>
+					<FileContentHash>TU9y07FA4IWGxznrvGv9rQ==</FileContentHash>
+					<FileVersion></FileVersion>
+					<Name>include/avr/iom328pb.h</Name>
+					<SelectString></SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\templates\main.c</AbsolutePath>
+					<Attribute>template</Attribute>
+					<Category>source</Category>
+					<Condition>C Exe</Condition>
+					<FileContentHash>KjvOcFWd++tbnsEMfVPd/w==</FileContentHash>
+					<FileVersion></FileVersion>
+					<Name>templates/main.c</Name>
+					<SelectString>Main file (.c)</SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\templates\main.cpp</AbsolutePath>
+					<Attribute>template</Attribute>
+					<Category>source</Category>
+					<Condition>C Exe</Condition>
+					<FileContentHash>w5aB/d0+DbxGZ7yY0aMMjw==</FileContentHash>
+					<FileVersion></FileVersion>
+					<Name>templates/main.cpp</Name>
+					<SelectString>Main file (.cpp)</SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\gcc\dev\atmega328pb</AbsolutePath>
+					<Attribute></Attribute>
+					<Category>libraryPrefix</Category>
+					<Condition>GCC</Condition>
+					<FileContentHash i:nil="true" />
+					<FileVersion></FileVersion>
+					<Name>gcc/dev/atmega328pb</Name>
+					<SelectString></SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+			</Files>
+			<PackName>ATmega_DFP</PackName>
+			<PackPath>C:/Program Files (x86)/Atmel/Studio/7.0/Packs/atmel/ATmega_DFP/1.7.374/Atmel.ATmega_DFP.pdsc</PackPath>
+			<PackVersion>1.7.374</PackVersion>
+			<PresentInProject>true</PresentInProject>
+			<ReferenceConditionId>ATmega328PB</ReferenceConditionId>
+			<RteComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+				<d4p1:string></d4p1:string>
+			</RteComponents>
+			<Status>Resolved</Status>
+			<VersionMode>Fixed</VersionMode>
+			<IsComponentInAtProject>true</IsComponentInAtProject>
+		</ProjectComponent>
+	</ProjectComponents>
+</Store>

firmware/src/uDCCD.cppproj

@@ -0,0 +1,346 @@
+<?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>0x20000000</RamSnippetAddress>
+    <UncachedRange />
+    <preserveEEPROM>true</preserveEEPROM>
+    <OverrideVtorValue>exception_table</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>
+    <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>
+      <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>
+        <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>
+        <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
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+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcccpp.compiler.symbols.DefSymbols>
+        <avrgcccpp.compiler.directories.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+          </ListValues>
+        </avrgcccpp.compiler.directories.IncludePaths>
+        <avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
+        <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+        <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+        <avrgcccpp.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcccpp.linker.libraries.Libraries>
+        <avrgcccpp.assembler.general.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+          </ListValues>
+        </avrgcccpp.assembler.general.IncludePaths>
+      </AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+        <avrgcc.common.Device>-mmcu=atmega328pb -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\gcc\dev\atmega328pb"</avrgcc.common.Device>
+        <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.level>Optimize debugging experience (-Og)</avrgcc.compiler.optimization.level>
+        <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>
+        <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcccpp.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>DEBUG</Value>
+          </ListValues>
+        </avrgcccpp.compiler.symbols.DefSymbols>
+        <avrgcccpp.compiler.directories.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+          </ListValues>
+        </avrgcccpp.compiler.directories.IncludePaths>
+        <avrgcccpp.compiler.optimization.level>Optimize debugging experience (-Og)</avrgcccpp.compiler.optimization.level>
+        <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+        <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcccpp.compiler.optimization.DebugLevel>Default (-g2)</avrgcccpp.compiler.optimization.DebugLevel>
+        <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+        <avrgcccpp.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcccpp.linker.libraries.Libraries>
+        <avrgcccpp.assembler.general.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+          </ListValues>
+        </avrgcccpp.assembler.general.IncludePaths>
+        <avrgcccpp.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcccpp.assembler.debugging.DebugLevel>
+      </AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="bsp\ain.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\ain.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\ain_lpf.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\ain_lpf.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\board.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\board.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\din.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\din.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\dout.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\dout.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\memory.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\memory.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\pwm_out.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\pwm_out.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\mcu\mcu_hal.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\mcu\mcu_hal_r8.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\brakes.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\brakes.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\dccd.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\dccd.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\dccd_hw.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\dccd_hw.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\display.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\display.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\coil_reg.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\coil_reg.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\handbrake.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\handbrake.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\memory.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\memory.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\mode.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\mode.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\tps.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\tps.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\user_force.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="dccd\user_force.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\button.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\button.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\led_display.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\led_display.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\out_reg.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\out_reg.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\safe_ain.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\safe_ain.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\out_driver.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\out_driver.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>
+    <Compile Include="utils\vcounter.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="utils\vcounter.h">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <Folder Include="bsp" />
+    <Folder Include="bsp\mcu" />
+    <Folder Include="hw" />
+    <Folder Include="dccd" />
+    <Folder Include="utils" />
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>

firmware/src/utils/interpolate.cpp

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

firmware/src/utils/interpolate.h

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

firmware/src/utils/utils.cpp

@@ -0,0 +1,216 @@
+/**** 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;
+}
+
+uint16_t util::invert(uint16_t x)
+{
+	if(x!=0) return 0;
+	else return 1;
+}
+
+uint32_t util::invert(uint32_t x)
+{
+	if(x!=0) return 0;
+	else return 1;
+}
+
+uint8_t util::sat_add(uint8_t x, uint8_t y)
+{
+	uint8_t z = x + y;
+	// Check for overflow
+	if((z < x)||(z < y)) return 0xFF;
+	else return z;
+}
+
+uint16_t util::sat_add(uint16_t x, uint16_t y)
+{
+	uint16_t z = x + y;
+	// Check for overflow
+	if((z < x)||(z < y)) return 0xFF;
+	else return z;
+}
+
+uint32_t util::sat_add(uint32_t x, uint32_t y)
+
+{
+	uint32_t z = x + y;
+	// Check for overflow
+	if((z < x)||(z < y)) return 0xFF;
+	else return z;
+}
+
+uint8_t util::sat_subtract(uint8_t x, uint8_t y)
+{
+	uint8_t z = x - y;
+	// Check for underflow
+	if(z > x) return 0;
+	else return z;
+}
+
+uint16_t util::sat_subtract(uint16_t x, uint16_t y)
+{
+	uint16_t z = x - y;
+	// Check for underflow
+	if(z > x) return 0;
+	else return z;
+}
+uint32_t util::sat_subtract(uint32_t x, uint32_t y)
+{
+	uint32_t z = x - y;
+	// Check for underflow
+	if(z > x) return 0;
+	else return z;
+}
+
+uint8_t util::abs_subtract(uint8_t x, uint8_t y)
+{
+	if(x > y) return x - y;
+	else return y-x;
+}
+
+uint16_t util::abs_subtract(uint16_t x, uint16_t y)
+{
+	if(x > y) return x - y;
+	else return y-x;
+}
+
+uint32_t util::abs_subtract(uint32_t x, uint32_t y)
+{
+	if(x > y) return x - y;
+	else return y-x;
+}
+
+
+uint16_t util::sat_cast(uint32_t x)
+{
+	if(x > 0x0000FFFF) return 0xFFFF;
+	else return (uint16_t)x;
+}
+
+uint16_t util::sat_cast(int32_t x)
+{
+	if(x < 0) return 0x0000;
+	else if(x > 0x0000FFFF) return 0xFFFF;
+	else return (uint16_t)x;
+}
+
+uint8_t util::is_timed_out(uint16_t time, uint16_t limit)
+{
+	if(time >= limit) return 1;
+	else return 0;
+}
+
+uint8_t util::is_in_range(uint16_t value, uint16_t min, uint16_t max)
+{
+	if((value >= min)&&(value <= max)) return 1;
+	else return 0;
+}
+
+uint16_t util::time_delta(uint16_t start, uint16_t end)
+{
+	if(end >= start) return (end-start);
+	uint16_t temp = 0xFFFF - start;
+	return temp + end;
+}
+
+uint32_t util::time_delta(uint32_t start, uint32_t end)
+{
+	if(end >= start) return (end-start);
+	uint32_t temp = 0xFFFFFFFF - start;
+	return temp + end;
+}
+
+uint16_t util::time_delta(uint16_t start, uint16_t end, uint16_t max)
+{
+	if(end >= start) return (end-start);
+	uint16_t temp = max - start;
+	return temp + end;
+}
+
+uint32_t util::time_delta(uint32_t start, uint32_t end, uint32_t max)
+{
+	if(end >= start) return (end-start);
+	uint32_t temp = max - start;
+	return temp + end;
+}
+
+uint16_t util::convert_muldivoff(uint16_t raw, uint8_t mul, uint8_t div, int16_t offset)
+{
+	int32_t temp = (int32_t)raw;
+
+	temp = temp * mul;
+	if(div>1) temp /= div;
+	temp += offset;
+
+	return sat_cast(temp);
+}
+
+uint16_t util::sat_mul_kilo(uint16_t xk, uint16_t yk)
+{
+	uint32_t temp = (uint32_t)xk * (uint32_t)yk;
+	temp /= 1000;
+
+	return sat_cast(temp);
+}
+
+uint16_t util::sat_div_kilo(uint16_t top, uint16_t bot)
+{
+	//Sanity check bot
+	if(bot==0) return 0xFFFF; //aka infinity
+
+	uint32_t temp = (uint32_t)top * 1000;
+	temp /= (uint32_t)bot;
+
+	return sat_cast(temp);
+}
+
+uint16_t util::sat_ratio(uint16_t top, uint16_t bot)
+{
+	//Sanity check bot
+	if(bot==0) return 0xFFFF; //aka infinity
+
+	//Easy option
+	if(top>=bot) return 0xFFFF;
+
+	uint32_t temp = (uint32_t)top * 0x0000FFFF;
+	temp /= (uint32_t)bot;
+
+	return sat_cast(temp);
+}
+
+uint16_t util::percent_to_16b(uint8_t percent)
+{
+	uint32_t temp = (uint32_t)percent * 0x0000FFFF;
+	temp /= 100;
+
+	// Limit to 16 bits
+	uint16_t pwm = sat_cast(temp);
+
+	return pwm;
+}
+
+uint16_t util::percent_of(uint8_t percent, uint16_t value)
+{
+	if(percent == 0) return 0;
+	else if(percent >= 100) return value;
+	
+	uint32_t temp = (uint32_t)value * percent;
+	return temp/100;
+}
+
+/**** Private function definitions ****/

firmware/src/utils/utils.h

@@ -0,0 +1,52 @@
+#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 invert(uint16_t x);
+uint32_t invert(uint32_t x);
+
+uint8_t sat_add(uint8_t x, uint8_t y);
+uint16_t sat_add(uint16_t x, uint16_t y);
+uint32_t sat_add(uint32_t x, uint32_t y);
+
+uint8_t sat_subtract(uint8_t x, uint8_t y);
+uint16_t sat_subtract(uint16_t x, uint16_t y);
+uint32_t sat_subtract(uint32_t x, uint32_t y);
+
+uint8_t abs_subtract(uint8_t x, uint8_t y);
+uint16_t abs_subtract(uint16_t x, uint16_t y);
+uint32_t abs_subtract(uint32_t x, uint32_t y);
+
+uint16_t sat_cast(uint32_t x);
+uint16_t sat_cast(int32_t x);
+
+uint8_t is_timed_out(uint16_t time, uint16_t limit);
+uint8_t is_in_range(uint16_t value, uint16_t min, uint16_t max);
+
+uint16_t time_delta(uint16_t start, uint16_t end);
+uint32_t time_delta(uint32_t start, uint32_t end);
+
+uint16_t time_delta(uint16_t start, uint16_t end, uint16_t max);
+uint32_t time_delta(uint32_t start, uint32_t end, uint32_t max);
+
+uint16_t convert_muldivoff(uint16_t raw, uint8_t mul, uint8_t div, int16_t offset);
+uint16_t sat_mul_kilo(uint16_t xk, uint16_t yk);
+uint16_t sat_div_kilo(uint16_t top, uint16_t bot);
+uint16_t sat_ratio(uint16_t top, uint16_t bot);
+uint16_t percent_to_16b(uint8_t percent);
+
+uint16_t percent_of(uint8_t percent, uint16_t value);
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* UTILS_H_ */

firmware/src/utils/vcounter.cpp

@@ -0,0 +1,71 @@
+/**** Includes ****/
+#include "utils.h"
+#include "vcounter.h"
+
+using namespace util;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+util::VCounter::VCounter(void)
+{
+	this->counter = 0;
+	this->top = 0xFFFF;
+	this->step_us = 1;
+	this->disabled = 1;
+	return;
+}
+
+util::VCounter::~VCounter(void)
+{
+	return;
+}
+
+void util::VCounter::init(uint16_t top, uint16_t step_us)
+{
+	this->counter = 0;
+	this->top = top;
+	this->step_us = step_us;
+	this->disabled = 1;
+}
+
+void util::VCounter::reset(void)
+{
+	this->counter = 0;
+}
+
+void util::VCounter::increment(void)
+{
+	if(this->disabled) return;
+	this->counter++;
+	if(this->counter > this->top) this->counter = 0;
+}
+
+uint16_t util::VCounter::read(void)
+{
+	return this->counter;
+}
+
+uint32_t util::VCounter::read_ms(void)
+{
+	return this->convert_ms(this->counter);
+}
+
+uint16_t util::VCounter::read_top(void)
+{
+	return this->top;
+}
+
+uint32_t util::VCounter::convert_ms(uint16_t raw)
+{
+	if(this->step_us==0) return 0;
+	
+	uint32_t out = (uint32_t)raw * (uint32_t)this->step_us;
+	return out/1000;
+}
+
+
+/**** Private function definitions ****/
+

firmware/src/utils/vcounter.h

@@ -0,0 +1,42 @@
+#ifndef VIRTUAL_COUNTER_H_
+#define VIRTUAL_COUNTER_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace util {
+
+/**** Public definitions ****/
+class VCounter
+{	
+	public:
+	VCounter(void);
+	~VCounter(void);
+	
+	void init(uint16_t top, uint16_t step_us);
+	
+	uint8_t disabled;
+	
+	void reset(void);
+	void increment(void);
+	uint16_t read(void);
+	uint32_t read_ms(void);
+	uint16_t read_top(void);
+	uint32_t convert_ms(uint16_t raw);
+	
+	#ifndef TESTING
+	protected:
+	#endif
+	uint16_t step_us;
+	uint16_t counter;
+	uint16_t top;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* VIRTUAL_COUNTER_H_ */