Improved config memory

firmware/src/bsp/ain.cpp

@@ -9,37 +9,19 @@ using namespace bsp;
 /**** 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)
+bsp::AnalogIn::AnalogIn(uint8_t adc_ch)
 {
 	this->adc_ch = adc_ch;
 	this->mul = DEF_AIN_MUL;
 	this->div = DEF_AIN_DIV;
 	this->offset = DEF_AIN_OFFSET;
 	this->last_read = 0;
-	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);
 	

firmware/src/bsp/ain.h

@@ -12,13 +12,12 @@ static const uint8_t DEF_AIN_DIV = 44;
 static const int16_t DEF_AIN_OFFSET = 0;
 
 class AnalogIn
-{	
-	public:
-	AnalogIn(void);
-	~AnalogIn(void);
+{
+	protected:
+	uint8_t adc_ch;
 	
-	void init(uint8_t adc_ch);
-	uint8_t is_init(void);
+	public:
+	AnalogIn(uint8_t adc_ch);
 	
 	uint8_t mul;
 	uint8_t div;
@@ -26,12 +25,6 @@ class AnalogIn
 	uint16_t last_read;
 	
 	uint16_t read(void);
-	
-	#ifndef TESTING
-	protected:
-	#endif
-	uint8_t adc_ch;
-	uint8_t is_init_done;
 };
 
 /**** Public function declarations ****/

firmware/src/bsp/ain_lpf.cpp

@@ -1,56 +0,0 @@
-/**** 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

@@ -1,36 +0,0 @@
-#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

@@ -1,118 +1,63 @@
 /**** 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)
+void board_init(void)
 {
-	this->is_init_done = 0;
-	return;
-}
-
-bsp::Board::~Board(void)
-{
-	return;
-}
-
-void bsp::Board::init(boardCfg_t* cfg)
-{
-	// Calculate settings
-	
-	// Controller setup
+	// MCU 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_cfg.adc_clk = mcu::ADC_DIV2;
+	mcu_cfg.pwm_clk = mcu::TIM_DIV1;
+	mcu_cfg.pwm_top = 200;
+	mcu_cfg.pwm_ch1_en = 1;
 	
 	mcu::startup(&mcu_cfg);
 	
-	// Analog inputs
-	this->out_voltage.init(mcu::ADC_VOUT);
-	this->out_voltage.mul = 20;
-	this->out_voltage.div = 1;
-	this->out_voltage.offset = 0;
+	// Board setup
+	// Fixed function AIN mV and mA scale
+	dccd_i.mul = 215;
+	dccd_i.div = 22;
+	dccd_i.offset = 0;
+	dccd_i.last_read = 0;
 	
-	this->out_current.init(mcu::ADC_IOUT);
-	this->out_current.mul = 215;
-	this->out_current.div = 22;
-	this->out_current.offset = 0;
+	dccd_u.mul = 20;
+	dccd_u.div = 1;
+	dccd_u.offset = 0;
+	dccd_u.last_read = 0;
 	
-	this->battery_voltage.init(mcu::ADC_VBAT);
-	this->battery_voltage.mul = 20;
-	this->battery_voltage.div = 1;
-	this->battery_voltage.offset = 0;
+	bat_u.mul = 20;
+	bat_u.div = 1;
+	bat_u.offset = 0;
+	bat_u.last_read = 12000;
 	
-	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;
+	bat_i.mul = 235;
+	bat_i.div = 6;
+	bat_i.offset = 0;
+	bat_i.last_read = 0;
 }
 
-uint8_t bsp::Board::is_init(void)
+void board_read(void)
 {
-	return this->is_init_done;
-}
-
-void bsp::Board::read(void)
-{
-	if(this->is_init_done==0) return;
+	dccd_i.read();
+	dccd_u.read();
+	bat_u.read();
+	bat_i.read();
+	ain1.read();
+	ain2.read();
 	
-	// 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();
+	din1.read();
+	din2.read();
+	din3.read();
+	din4.read();
+	hvdin1.read();
+	hvdin2.read();
+	hvdin3.read();
 }
 
 /**** Private function definitions ****/
-

firmware/src/bsp/board.h

@@ -1,77 +1,41 @@
-#ifndef UDCCD_BOARD_H_
-#define UDCCD_BOARD_H_
+#ifndef BSP_BOARD_H_
+#define BSP_BOARD_H_
 
 /**** Includes ****/
 #include <stdint.h>
 
+#include "mcu/mcu_hal.h"
 #include "ain.h"
-#include "ain_lpf.h"
 #include "din.h"
 #include "dout.h"
-#include "pwm_out.h"
-#include "memory.h"
+#include "dio.h"
+#include "halfbridge.h"
+#include "pwm.h"
 
-namespace bsp {
+static bsp::AnalogIn dccd_i = bsp::AnalogIn(mcu::ADC0);
+static bsp::AnalogIn dccd_u = bsp::AnalogIn(mcu::ADC1);
+static bsp::AnalogIn bat_u = bsp::AnalogIn(mcu::ADC2);
+static bsp::AnalogIn bat_i = bsp::AnalogIn(mcu::ADC3);
+static bsp::Hafbridge hbridge =  bsp::Hafbridge(mcu::PWM0, mcu::GPIO15, 95);
+static bsp::AnalogIn ain1 = bsp::AnalogIn(mcu::ADC5); // mode
+static bsp::AnalogIn ain2 = bsp::AnalogIn(mcu::ADC4); // pot
+static bsp::DigitalIn din1 = bsp::DigitalIn(mcu::GPIO0, 0, bsp::DIN_HIGH); //mode
+static bsp::DigitalIn din2 = bsp::DigitalIn(mcu::GPIO1, 0, bsp::DIN_HIGH); //pot
+static bsp::DigitalIn din3 = bsp::DigitalIn(mcu::GPIO2, 0, bsp::DIN_HIGH); //down
+static bsp::DigitalIn din4 = bsp::DigitalIn(mcu::GPIO3, 0, bsp::DIN_HIGH); //up
+static bsp::DigitalIn hvdin1 = bsp::DigitalIn(mcu::GPIO4, 1, bsp::DIN_LOW); //dimm
+static bsp::DigitalIn hvdin2 = bsp::DigitalIn(mcu::GPIO5, 1, bsp::DIN_LOW); //brakes
+static bsp::DigitalIn hvdin3 = bsp::DigitalIn(mcu::GPIO6, 1, bsp::DIN_LOW); //hbrake
+static bsp::DigitalIO hvdin3_pull = bsp::DigitalIO(mcu::GPIO7, bsp::DIN_HIGH); //hbrake pull
+static bsp::DigitalOut odout1 = bsp::DigitalOut(mcu::GPIO9,  1);
+static bsp::DigitalOut odout2 = bsp::DigitalOut(mcu::GPIO10, 1);
+static bsp::DigitalOut odout3 = bsp::DigitalOut(mcu::GPIO11, 1);
+static bsp::DigitalOut odout4 = bsp::DigitalOut(mcu::GPIO12, 1);
+static bsp::DigitalOut odout5 = bsp::DigitalOut(mcu::GPIO13, 1);
+static bsp::DigitalOut odout6 = bsp::DigitalOut(mcu::GPIO14, 1);
+static bsp::PWMout od_pwm = bsp::PWMout(mcu::PWM1);
 
-/**** 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);
+void board_init(void);
+void board_read(void);
 
-	#ifndef TESTING
-	protected:
-	#endif
-	uint8_t is_init_done;
-};
-
-/**** Public function declarations ****/
-
-#ifdef TESTING
-#endif
-
-} //namespace
-
-#endif /* UDCCD_BOARD_H_ */
+#endif /* BSP_BOARD_H_ */

firmware/src/bsp/din.cpp

@@ -9,11 +9,15 @@ using namespace bsp;
 /**** Private constants ****/
 /**** Private variables ****/
 /**** Private function declarations ****/
+
 /**** Public function definitions ****/
-bsp::DigitalIn::DigitalIn(void)
+bsp::DigitalIn::DigitalIn(uint8_t gpio_ch, uint8_t inverted, uint8_t init_value)
 {
-	this->is_init_done = 0;
-	return;
+	this->gpio_ch = gpio_ch;
+	this->invert = inverted;
+	
+	if(init_value) this->last_read = DIN_HIGH;
+	else this->last_read = DIN_LOW;
 }
 
 bsp::DigitalIn::~DigitalIn(void)
@@ -21,36 +25,16 @@ 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;
+	uint8_t lvl = mcu::gpio_read(this->gpio_ch);
 	
-	// Read GPIO
-	this->last_read = mcu::gpio_read(this->gpio_ch);
+	if(this->invert) lvl = util::invert(lvl);
 	
-	// Invert if necessary
-	if(this->is_inverted)
-	{
-		if(this->last_read==0) this->last_read = 1;
-		else this->last_read = 0;
-	};
+	if(lvl>0) this->last_read = DIN_HIGH;
+	else this->last_read = DIN_LOW;
 	
 	return this->last_read;
 }
 
 /**** Private function definitions ****/
-

firmware/src/bsp/din.h

@@ -1,5 +1,5 @@
-#ifndef DIGITAL_IN_H_
-#define DIGITAL_IN_H_
+#ifndef DIGITAL_INPUT_H_
+#define DIGITAL_INPUT_H_
 
 /**** Includes ****/
 #include <stdint.h>
@@ -7,25 +7,22 @@
 namespace bsp {
 
 /**** Public definitions ****/
+const uint8_t DIN_LOW  = 0;
+const uint8_t DIN_HIGH = 1;
+
 class DigitalIn
-{	
-	public:
-	DigitalIn(void);
-	~DigitalIn(void);
+{
+	protected:
+	uint8_t gpio_ch;
+	uint8_t invert;
 	
-	void init(uint8_t gpio_ch, uint8_t inverted);
-	uint8_t is_init(void);
+	public:
+	DigitalIn(uint8_t gpio_ch, uint8_t inverted, uint8_t init_value);
+	~DigitalIn(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 ****/
@@ -35,4 +32,4 @@ class DigitalIn
 
 } //namespace
 
-#endif /* DIGITAL_IN_H_ */
+#endif /* DIGITAL_INPUT_H_ */

firmware/src/bsp/dio.cpp

@@ -0,0 +1,34 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "dio.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+bsp::DigitalIO::DigitalIO(uint8_t gpio_ch, uint8_t init_value) : DigitalIn(gpio_ch, 0, init_value), DigitalOut(gpio_ch, 0)
+{
+	return;
+}
+
+bsp::DigitalIO::~DigitalIO(void)
+{
+	this->write(DOUT_HIZ);
+}
+
+uint8_t bsp::DigitalIO::is_io_match(void)
+{
+	if(this->last_set == DOUT_HIZ) return 1;
+	
+	uint8_t read_lvl = this->read();
+	
+	if(read_lvl == (uint8_t)this->last_set) return 1;
+	else return 0;
+}
+
+/**** Private function definitions ****/

firmware/src/bsp/dio.h

@@ -0,0 +1,32 @@
+#ifndef DIGITAL_IO_H_
+#define DIGITAL_IO_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "din.h"
+#include "dout.h"
+
+namespace bsp {
+
+/**** Public definitions ****/
+const int8_t DIO_LOW  = 0;
+const int8_t DIO_HIGH = 1;
+const int8_t DIO_HIZ   = -1;
+
+class DigitalIO : public DigitalIn, public DigitalOut
+{
+	public:
+	DigitalIO(uint8_t gpio_ch, uint8_t init_value);
+	~DigitalIO(void);
+	
+	uint8_t is_io_match(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DIGITAL_IO_H_ */

firmware/src/bsp/dout.cpp

@@ -9,32 +9,44 @@ using namespace bsp;
 /**** Private constants ****/
 /**** Private variables ****/
 /**** Private function declarations ****/
+
 /**** Public function definitions ****/
-bsp::DigitalOut::DigitalOut(void)
+bsp::DigitalOut::DigitalOut(uint8_t gpio_ch, uint8_t inverted)
 {
-	this->is_init_done = 0;
-	return;
+	this->gpio_ch = gpio_ch;
+	this->invert = inverted;
+	this->write(DOUT_HIZ);
 }
 
 bsp::DigitalOut::~DigitalOut(void)
 {
-	return;
+	this->write(DOUT_HIZ);
 }
 
 void bsp::DigitalOut::write(int8_t level)
 {
-	if(this->is_init_done==0) return;
-	
-	if(this->is_inverted)
+	if(level > 0)
 	{
-		if(level==0) level = 1;
-		else if (level > 0) level  = 0;
-	};
-	
-	mcu::gpio_write(this->gpio_ch, level);
-	
-	this->last_writen = level;
+		this->last_set = DOUT_HIGH;
+		if(this->invert) mcu::gpio_write(this->gpio_ch, mcu::LEVEL_LOW);
+		else mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIGH);
+	}
+	else if(level == 0)
+	{
+		this->last_set = DOUT_LOW;
+		if(this->invert) mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIGH);
+		else mcu::gpio_write(this->gpio_ch, mcu::LEVEL_LOW);
+	}
+	else
+	{
+		this->last_set = DOUT_HIZ;
+		mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIZ);
+	}
+}
+
+int8_t bsp::DigitalOut::get_set_level(void)
+{
+	return this->last_set;
 }
 
 /**** Private function definitions ****/
-

firmware/src/bsp/dout.h

@@ -1,27 +1,29 @@
-#ifndef DIGITAL_OUT_H_
-#define DIGITAL_OUT_H_
+#ifndef DIGITAL_OUTPUT_H_
+#define DIGITAL_OUTPUT_H_
 
 /**** Includes ****/
 #include <stdint.h>
-#include "din.h"
 
 namespace bsp {
 
 /**** Public definitions ****/
-class DigitalOut : public DigitalIn
-{	
+const int8_t DOUT_LOW  = 0;
+const int8_t DOUT_HIGH = 1;
+const int8_t DOUT_HIZ = -1;
+
+class DigitalOut
+{
+	protected:
+	uint8_t gpio_ch;
+	uint8_t invert;
+	int8_t last_set;
+	
 	public:
-	// New or redefined stuff
-	DigitalOut(void);
+	DigitalOut(uint8_t gpio_ch, uint8_t inverted);
 	~DigitalOut(void);
 	
-	int8_t last_writen;
-	
 	void write(int8_t level);
-	
-	#ifndef TESTING
-	protected:
-	#endif
+	int8_t get_set_level(void);
 };
 
 /**** Public function declarations ****/
@@ -31,4 +33,4 @@ class DigitalOut : public DigitalIn
 
 } //namespace
 
-#endif /* DIGITAL_OUT_H_ */
+#endif /* DIGITAL_OUTPUT_H_ */

firmware/src/bsp/halfbridge.cpp

@@ -0,0 +1,74 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "halfbridge.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+bsp::Hafbridge::Hafbridge(uint8_t hs_pwm_ch, uint8_t ls_gpio_ch, uint8_t max_dc)
+{
+	this->pwm_ch  = hs_pwm_ch;	
+	this->gpio_ch = ls_gpio_ch;
+	
+    if(max_dc>100) max_dc = 100;
+	
+	this->max_dc = util::percent_to_16b(max_dc);
+
+	this->disable();
+}
+
+bsp::Hafbridge::~Hafbridge(void)
+{
+	this->last_duty = 0;
+	this->disable();
+}
+
+void bsp::Hafbridge::write(uint16_t dividend)
+{
+	// Limit duty
+	if(dividend > this->max_dc) dividend = this->max_dc;
+	this->last_duty = dividend;
+	
+	if(this->enabled == 0) return;
+	
+	// Set PWM
+	mcu::pwm_write(this->pwm_ch, dividend);
+}
+
+void bsp::Hafbridge::write(uint8_t percent)
+{
+	// Convert to dividend/0xFFFF
+	this->write(util::percent_to_16b(percent));
+}
+
+void bsp::Hafbridge::enable(void)
+{
+	mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIGH);
+	this->enabled = 1;
+	this->write(this->last_duty);
+}
+
+void bsp::Hafbridge::disable(void)
+{
+	mcu::pwm_write(this->pwm_ch, 0);
+	mcu::gpio_write(this->gpio_ch, mcu::LEVEL_LOW);
+	this->enabled = 0;
+}
+
+uint8_t bsp::Hafbridge::get_set_duty(void)
+{
+	return this->last_duty;
+}
+
+uint8_t bsp::Hafbridge::is_enabled(void)
+{
+	return this->enabled;
+}
+
+/**** Private function definitions ****/

firmware/src/bsp/halfbridge.h

@@ -0,0 +1,38 @@
+#ifndef HALFBRIDGE_H_
+#define HALFBRIDGE_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace bsp {
+
+/**** Public definitions ****/
+class Hafbridge
+{
+	protected:
+	uint8_t pwm_ch;
+	uint8_t gpio_ch;
+	uint16_t last_duty;
+	uint8_t enabled;
+	uint16_t max_dc;
+	
+	public:
+	Hafbridge(uint8_t hs_pwm_ch, uint8_t ls_gpio_ch, uint8_t max_dc);
+	~Hafbridge(void);
+	
+	void write(uint16_t dividend);
+	void write(uint8_t percent);
+	void enable(void);
+	void disable(void);
+	uint8_t get_set_duty(void);
+	uint8_t is_enabled(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* HALFBRIDGE_H_ */

firmware/src/bsp/mcu/mcu_hal.h

@@ -9,45 +9,42 @@ namespace mcu {
 /**** Public definitions ****/
 /*
 */
+
+const uint8_t GPIO0 = 0;	//PC5 Mode
+const uint8_t GPIO1 = 1;	//PC4 Pot  
+const uint8_t GPIO2 = 2;	//PE1 Down
+const uint8_t GPIO3 = 3;	//PE3 Up
+const uint8_t GPIO4 = 4;	//PD7 Dimm
+const uint8_t GPIO5 = 5;	//PB7 Brakes
+const uint8_t GPIO6 = 6;	//PB6 Handbrake
+const uint8_t GPIO7 = 7;	//PB5 Handbrake pull
+const uint8_t GPIO8 = 8;	//PD6 Speed pull
+const uint8_t GPIO9 = 9;	//PD0 LED0
+const uint8_t GPIO10 = 10;	//PD1 LED1
+const uint8_t GPIO11 = 11;	//PD2 LED2
+const uint8_t GPIO12 = 12;	//PD3 LED3
+const uint8_t GPIO13 = 13;	//PD4 LED4
+const uint8_t GPIO14 = 14;	//PD5 LED5
+const uint8_t GPIO15 = 15;	//PB0 DCCD Enable
+const uint8_t GPIO16 = 16;	//PB1 DCCD PWM
+const uint8_t GPIO17 = 17;	//PB2 LED PWM
+
 const uint8_t LEVEL_LOW  = 0;
 const uint8_t LEVEL_HIGH = 1;
-const int8_t  LEVEL_HIZ  = -1;
+const 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 ADC0 = 0;	//Output current
+const uint8_t ADC1 = 1;	//Output voltage
+const uint8_t ADC2 = 2;	//Battery voltage
+const uint8_t ADC3 = 3;	//Battery current
+const uint8_t ADC4 = 4;	//Potentiometer
+const uint8_t ADC5 = 5;	//Mode
+const uint8_t ADC8 = 8;	//MCU temperature
+const uint8_t ADC14 = 14;	//MCU internal reference
+const uint8_t ADC15 = 15;	//MCU ground
 
-const uint8_t 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
+const uint8_t PWM0 = 0;	//DCCD
+const uint8_t PWM1 = 1;	//LED
 
 //ADC definitions
 typedef enum {
@@ -73,35 +70,21 @@ typedef struct {
 	adcClkDiv_t adc_clk;
 	timerClkDiv_t pwm_clk;
 	uint16_t pwm_top;
-	uint8_t od_common_is_pwm;
+	uint8_t pwm_ch1_en;
 } 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);

firmware/src/bsp/mcu/mcu_hal_r8.cpp

@@ -7,12 +7,7 @@ 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);
@@ -21,8 +16,6 @@ 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
@@ -41,9 +34,9 @@ void mcu::startup(startupCfg_t* hwCfg)
 	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
+	if(hwCfg->pwm_ch1_en) PORTB &= ~0x04; //Set low
+	else PORTB |= 0x04;                   //Set high
+	DDRB |= 0x04;                         //Set as output
 	
 	// OD control pins
 	PORTD &= ~0x3F; //Set low (off)
@@ -73,10 +66,6 @@ void mcu::startup(startupCfg_t* hwCfg)
 	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
@@ -91,7 +80,7 @@ void mcu::startup(startupCfg_t* hwCfg)
 	//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
+	if(hwCfg->pwm_ch1_en) TCCR1A |= 0x30; //Connect OC1B, inverted mode
 	TCCR1B = 0x18; //PWM, Phase & Frequency Correct ICR1 top, no clock, WGM:0xE
 	TCCR1C = 0x00;
 	TCNT1 = 0x0000;
@@ -103,332 +92,11 @@ void mcu::startup(startupCfg_t* hwCfg)
 	
 	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;
 }
 
+// ADC Interface functions 
 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;
 
@@ -444,11 +112,9 @@ uint16_t mcu::adc_read(uint8_t ch)
 	return ADC;
 }
 
-// PWM interface functions
+// PWM Timer 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
@@ -466,8 +132,6 @@ void mcu::pwm_write(uint8_t ch, uint16_t dc)
 
 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
@@ -484,7 +148,252 @@ uint16_t mcu::pwm_read(uint8_t ch)
 	return (uint16_t)temp;
 }
 
-// EEPROM interface functions
+uint8_t mcu::gpio_read(uint8_t ch)
+{
+	switch(ch)
+	{
+		case GPIO0:  // Mode DIN1
+		return gpio_read_level(PINC,0x20);
+		
+		case GPIO1:  // Pot DIN2
+		return gpio_read_level(PINC,0x10);
+		
+		case GPIO2:  // Down DIN3
+		return gpio_read_level(PINE,0x02);
+		
+		case GPIO3:  // Up DIN4
+		return gpio_read_level(PINE,0x08);
+		
+		case GPIO4:  // Dimm DIN5
+		return gpio_read_level(PIND,0x80);
+		
+		case GPIO5:  // Brakes DIN6
+		return gpio_read_level(PINB,0x80);
+		
+		case GPIO6:  // Handbrake DIN7
+		return gpio_read_level(PINB,0x40);
+		
+		case GPIO7:  // Handbrake pull DIN8
+		return gpio_read_level(PINB,0x20);
+		
+		case GPIO8:  // Speed-pull
+		return gpio_read_level(PIND,0x40);
+		
+		case GPIO9:  // LED 0
+		return gpio_read_level(PIND,0x01);
+		
+		case GPIO10:  // LED 1
+		return gpio_read_level(PIND,0x02);
+		
+		case GPIO11:  // LED 2
+		return gpio_read_level(PIND,0x04);
+		
+		case GPIO12:  // LED 3
+		return gpio_read_level(PIND,0x08);
+		
+		case GPIO13:  // LED 4
+		return gpio_read_level(PIND,0x10);
+		
+		case GPIO14:  // LED 5
+		return gpio_read_level(PIND,0x20);
+		
+		case GPIO15:  // DCCD Enable
+		return gpio_read_level(PINB,0x01);	
+		
+		case GPIO16:  // DCCD PWM
+		return gpio_read_level(PINB,0x02);
+		
+		case GPIO17:  // LED PWM
+		return gpio_read_level(PINB,0x04);	
+		
+		default:
+		return 0;
+	}
+}
+
+void mcu::gpio_write(uint8_t ch, int8_t lvl)
+{
+	switch(ch)
+	{		
+		case GPIO0:  // Mode DIN1
+		if(lvl>0)
+		{
+			PORTC |= 0x20;
+			DDRC |= 0x20;
+		}
+		else if(lvl<0)
+		{
+			DDRC &= ~0x20;
+			PORTC &= ~0x20;
+		}
+		else
+		{
+			PORTC &= ~0x20;
+			DDRC |= 0x20;
+		}
+		return;
+		
+		case GPIO1:  // Pot DIN2
+		if(lvl>0)
+		{
+			PORTC |= 0x10;
+			DDRC |= 0x10;
+		}
+		else if(lvl<0)
+		{
+			DDRC &= ~0x10;
+			PORTC &= ~0x10;
+		}
+		else
+		{
+			PORTC &= ~0x10;
+			DDRC |= 0x10;
+		}
+		return;
+		
+		case GPIO2:  // Down DIN3
+		if(lvl>0)
+		{
+			PORTE |= 0x02;
+			DDRE |= 0x02;
+		}
+		else if(lvl<0)
+		{
+			DDRE &= ~0x02;
+			PORTE &= ~0x02;
+		}
+		else
+		{
+			PORTE &= ~0x02;
+			DDRE |= 0x02;
+		}
+		return;
+		
+		case GPIO3:  // Up DIN4
+		if(lvl>0)
+		{
+			PORTE |= 0x08;
+			DDRE |= 0x08;
+		}
+		else if(lvl<0)
+		{
+			DDRE &= ~0x08;
+			PORTE &= ~0x08;
+		}
+		else
+		{
+			PORTE &= ~0x08;
+			DDRE |= 0x08;
+		}
+		return;
+		
+		case GPIO7:  // Handbrake pull DIN
+		if(lvl>0)
+		{
+			PORTB |= 0x20;
+			DDRB |= 0x20;
+		}
+		else if(lvl<0)
+		{
+			DDRB &= ~0x20;
+			PORTB &= ~0x20;
+		}
+		else
+		{
+			PORTB &= ~0x20;
+			DDRB |= 0x20;
+		}
+		return;
+		
+		case GPIO8:  // Speed-pull
+		if(lvl>0) PORTD |= 0x40;
+		else PORTD &= ~0x40;
+		return;
+		
+		case GPIO9:  // LED 0
+		if(lvl>0) PORTD |= 0x01;
+		else PORTD &= ~0x01;
+		return;
+		
+		case GPIO10:  // LED 1
+		if(lvl>0) PORTD |= 0x02;
+		else PORTD &= ~0x02;
+		return;
+		
+		case GPIO11:  // LED 2
+		if(lvl>0) PORTD |= 0x04;
+		else PORTD &= ~0x04;
+		return;
+		
+		case GPIO12:  // LED 3
+		if(lvl>0) PORTD |= 0x08;
+		else PORTD &= ~0x08;
+		return;
+		
+		case GPIO13:  // LED 4
+		if(lvl>0) PORTD |= 0x10;
+		else PORTD &= ~0x10;
+		return;
+		
+		case GPIO14:  // LED 5
+		if(lvl>0) PORTD |= 0x20;
+		else PORTD &= ~0x20;
+		return;
+		
+		case GPIO15:  // DCCD Enable
+		if(lvl>0) PORTB |= 0x01;
+		else PORTB &= ~0x01;
+		return;
+		
+		default:
+		return;
+	}
+}
+
+void mcu::gpio_write_pull(uint8_t ch, int8_t lvl)
+{
+	switch(ch)
+	{
+		case GPIO0:  // Mode DIN1
+		if(lvl>0) PORTC |= 0x20;
+		else PORTC &= ~0x20;
+		return;
+		
+		case GPIO1:  // Pot DIN2
+		if(lvl>0) PORTC |= 0x10;
+		else PORTC &= ~0x10;
+		return;
+		
+		case GPIO2:  // Down DIN3
+		if(lvl>0) PORTE |= 0x02;
+		else PORTE &= ~0x02;
+		return;
+		
+		case GPIO3:  // Up DIN4
+		if(lvl>0) PORTE |= 0x08;
+		else PORTE &= ~0x08;
+		return;
+		
+		case GPIO4:  // Dimm
+		if(lvl>0) PORTD |= 0x80;
+		else PORTD &= ~0x80;
+		return;
+		
+		case GPIO5:  // Brakes
+		if(lvl>0) PORTB |= 0x80;
+		else PORTB &= ~0x80;
+		return;
+		
+		case GPIO6:  // Handbrake
+		if(lvl>0) PORTB |= 0x40;
+		else PORTB &= ~0x40;
+		return;
+		
+		default:
+		return;
+	}
+}
+
 uint8_t mcu::eeprom_read8b(uint16_t address)
 {
 	return eeprom_read_byte((uint8_t*)address);
@@ -526,11 +435,11 @@ static void pwm_write_ocx(uint8_t ch, uint16_t value)
 {
 	switch(ch)
 	{
-		case PWM_OUT:
+		case PWM0:
 		OCR1A = value;
 		return;
 		
-		case PWM_OD:
+		case PWM1:
 		OCR1B = value;
 		return;
 		
@@ -543,10 +452,10 @@ static uint16_t pwm_read_ocx(uint8_t ch)
 {
 	switch(ch)
 	{
-		case PWM_OUT:
+		case PWM0:
 		return OCR1A;
 		
-		case PWM_OD:
+		case PWM1:
 		return OCR1B ;
 		
 		default:

firmware/src/bsp/memory.cpp

@@ -1,55 +0,0 @@
-/**** 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

@@ -1,36 +0,0 @@
-#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.cpp

@@ -0,0 +1,40 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "pwm.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+bsp::PWMout::PWMout(uint8_t pwm_ch)
+{
+	this->pwm_ch = pwm_ch;
+	this->write(0);
+}
+
+bsp::PWMout::~PWMout(void)
+{
+	this->write(0);
+}
+
+void bsp::PWMout::write(uint8_t duty)
+{
+	// Convert percent to 16b duty cycle
+	uint16_t dc = util::percent_to_16b(duty);
+	
+	// Set PWM
+	mcu::pwm_write(this->pwm_ch, dc);
+	this->last_duty = duty;
+}
+
+uint8_t bsp::PWMout::get_set_duty(void)
+{
+	return this->last_duty;
+}
+
+/**** Private function definitions ****/

firmware/src/bsp/pwm.h

@@ -0,0 +1,31 @@
+#ifndef PWM_H_
+#define PWM_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace bsp {
+
+/**** Public definitions ****/
+class PWMout
+{
+	protected:
+	uint8_t pwm_ch;
+	uint8_t last_duty;
+	
+	public:
+	PWMout(uint8_t pwm_ch);
+	~PWMout(void);
+	
+	void write(uint8_t duty);
+	uint8_t get_set_duty(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* PWM_H_ */

firmware/src/bsp/pwm_out.cpp

@@ -1,68 +0,0 @@
-/**** 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

@@ -1,39 +0,0 @@
-#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

@@ -1,117 +0,0 @@
-/**** 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

@@ -1,49 +0,0 @@
-#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

@@ -1,115 +0,0 @@
-/**** 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

@@ -1,47 +0,0 @@
-#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

@@ -1,438 +0,0 @@
-/**** 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

@@ -1,90 +0,0 @@
-#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

@@ -1,190 +0,0 @@
-/**** 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

@@ -1,69 +0,0 @@
-#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

@@ -1,208 +0,0 @@
-/**** 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

@@ -1,55 +0,0 @@
-#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

@@ -1,175 +0,0 @@
-/**** 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

@@ -1,57 +0,0 @@
-#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

@@ -1,257 +0,0 @@
-/**** 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

@@ -1,76 +0,0 @@
-#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

@@ -1,45 +0,0 @@
-/**** 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

@@ -1,39 +0,0 @@
-#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

@@ -1,158 +0,0 @@
-/**** 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

@@ -1,58 +0,0 @@
-#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

@@ -1,86 +0,0 @@
-/**** 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

@@ -1,45 +0,0 @@
-#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

@@ -8,10 +8,25 @@ using namespace hw;
 /**** Private constants ****/
 /**** Private variables ****/
 /**** Private function declarations ****/
+
 /**** Public function definitions ****/
-hw::Button::Button(void)
+hw::Button::Button(bsp::DigitalIn* din_ch, uint8_t act_lvl, uint8_t dbnc_lim, uint8_t init_state)
 {
-	return;
+	this->din_ch = din_ch;
+	
+	if(act_lvl) this->act_lvl = bsp::DIN_HIGH;
+	else this->act_lvl = bsp::DIN_LOW;
+	
+	this->dbnc_cnter = 0;
+	this->dbnc_lim = dbnc_lim;
+	
+	if(init_state) this->state = BUTTON_ON;
+	else this->state = BUTTON_OFF;
+	
+	this->time = 0;
+	this->is_new = 0;
+	
+	this->hold_time = 0;
 }
 
 hw::Button::~Button(void)
@@ -19,67 +34,48 @@ hw::Button::~Button(void)
 	return;
 }
 
-void hw::Button::init(bsp::DigitalIn* din_ch, uint8_t act_lvl, util::VCounter* timer, uint16_t dbnc_lim)
+uint8_t hw::Button::update(void)
 {
-	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
+	// Read din level
 	uint8_t lvl = this->din_ch->last_read;
 	
+	// Increase state counter
+	this->time = util::sat_add(this->time, 1);
+	
+	// Repeat new flag after hold time
+	if((this->state == BUTTON_ON)&&(this->time > this->hold_time)&&(this->hold_time > 0))
+	{
+		this->time = 0;
+		this->is_new = 1;
+	};
+	
 	// 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) this->dbnc_cnter++;
+	else this->dbnc_cnter = 0;
+	
+	// Check for debounce end
+	if(this->dbnc_cnter < this->dbnc_lim) return this->state;
+	
+	// Debounce end. Apply new state.
+	this->state = next_state;
+	this->time = 0;
+	this->is_new = 1;
+	this->dbnc_cnter = 0;
 	
-	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)
+uint8_t hw::Button::force_update(void)
 {
-	// Read din
-	if(this->update_din) this->din_ch->read();
-	
-	// Get last read level
-	uint8_t lvl = this->din_ch->last_read;
+	// Read din level
+	uint8_t lvl = this->din_ch->read();
 	
 	// Cancels active debounce
-	this->dbnc_ts = 0;
+	this->dbnc_cnter = 0;
 	
 	// Determine next state
 	uint8_t next_state = BUTTON_OFF;
@@ -87,30 +83,12 @@ uint8_t hw::Button::force_read(void)
 	
 	if(next_state != this->state)
 	{
-		this->state_start_ts = this->timer->read();
 		this->state = next_state;
+		this->time = 0;
 		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

@@ -1,49 +1,42 @@
-#ifndef BUTTONS_H_
-#define BUTTONS_H_
+#ifndef BUTTON_H_
+#define BUTTON_H_
 
 /**** Includes ****/
 #include <stdint.h>
-#include "../utils/vcounter.h"
-#include "../bsp/board.h"
+#include "../bsp/din.h"
 
 namespace hw {
 
 /**** Public definitions ****/
-const uint8_t BUTTON_OFF = 0;
-const uint8_t BUTTON_ON  = 1;
+const uint8_t BUTTON_OFF  = 0;
+const uint8_t BUTTON_ON = 1;
 
 class Button
 {
+	protected:
+	bsp::DigitalIn* din_ch;
+	uint8_t act_lvl;
+	uint8_t dbnc_cnter;
+	
 	public:
-	Button(void);
+	Button(bsp::DigitalIn* din_ch, uint8_t act_lvl, uint8_t dbnc_lim, uint8_t init_state);
 	~Button(void);
 	
 	uint8_t state;
-	uint16_t dbnc_lim;
+	uint16_t time;
+	uint8_t dbnc_lim;
 	uint8_t is_new;
-	uint8_t update_din;
+	uint16_t hold_time;
 	
-	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;
+	uint8_t update(void);
+	uint8_t force_update(void);
 };
 
 /**** Public function declarations ****/
+
 #ifdef TESTING
 #endif
 
 } //namespace
 
-#endif /* BUTTONS_H_ */
+#endif /* BUTTON_H_ */

firmware/src/hw/cc_output.cpp

@@ -0,0 +1,41 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "cc_output.h"
+
+using namespace hw;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+hw::CCoutput::CCoutput(bsp::Hafbridge* hbridge, bsp::AnalogIn* supply_u, bsp::AnalogIn* out_u, bsp::AnalogIn* out_i) : CVoutput(hbridge, supply_u)
+{
+	this->out_voltage = out_u;
+	this->out_currnet = out_i;
+	
+	this->out_impedance = 0xFFFF;
+	this->target_voltage = 0;
+}
+
+void hw::CCoutput::update(void)
+{
+	// Calculate output impedance
+	if((this->out_currnet == 0)||(this->out_voltage->last_read == 0)) this->out_impedance = 0xFFFF;
+	else
+	{
+		this->out_impedance = util::sat_div_kilo(this->out_voltage->last_read, this->out_currnet->last_read);
+	}
+	
+	// Check target
+	if((this->target < this->min_out)&&(this->target > 0)) this->target = this->min_out;
+	
+	// Convert target current to voltage
+	this->target_voltage = util::sat_mul_kilo(this->target, this->out_impedance);
+	
+	// Set output
+	this->hbridge->write(util::sat_ratio(this->target_voltage, this->supply->last_read));
+}
+
+/**** Private function definitions ****/

firmware/src/hw/cc_output.h

@@ -0,0 +1,35 @@
+#ifndef CONST_CURRENT_OUTPUT_H_
+#define CONST_CURRENT_OUTPUT_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/ain.h"
+#include "cv_output.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class CCoutput : public CVoutput
+{
+	protected:
+	bsp::AnalogIn* out_voltage;
+	bsp::AnalogIn* out_currnet;
+	
+	public:
+	CCoutput(bsp::Hafbridge* hbridge, bsp::AnalogIn* supply_u, bsp::AnalogIn* out_u, bsp::AnalogIn* out_i);
+	
+	void update(void);
+	
+	uint16_t out_impedance;
+	uint16_t target_voltage;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* CONST_VOLTAGE_OUTPUT_H_ */

firmware/src/hw/cv_output.cpp

@@ -0,0 +1,53 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "cv_output.h"
+
+using namespace hw;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+hw::CVoutput::CVoutput(bsp::Hafbridge* hbridge, bsp::AnalogIn* supply_u)
+{
+	this->hbridge = hbridge;
+	this->supply = supply_u;
+	this->target = 0;
+	this->min_out = 0;
+	this->hbridge->disable();
+}
+
+hw::CVoutput::~CVoutput(void)
+{
+	this->hbridge->write((uint16_t)0x0000);
+	this->hbridge->disable();
+	return;
+}
+
+void hw::CVoutput::update(void)
+{
+	// Check target	
+	if((this->target < this->min_out)&&(this->target > 0)) this->target = this->min_out;
+	
+	// Set output
+	this->hbridge->write(util::sat_ratio(this->target, this->supply->last_read));
+}
+
+void hw::CVoutput::enable(void)
+{
+	this->hbridge->enable();
+}
+
+void hw::CVoutput::disable(void)
+{
+	this->hbridge->disable();	
+}
+
+uint8_t hw::CVoutput::is_enabled(void)
+{
+	return this->hbridge->is_enabled();
+}
+
+/**** Private function definitions ****/

firmware/src/hw/cv_output.h

@@ -0,0 +1,39 @@
+#ifndef CONST_VOLTAGE_OUTPUT_H_
+#define CONST_VOLTAGE_OUTPUT_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/ain.h"
+#include "../bsp/halfbridge.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class CVoutput
+{
+	protected:
+	bsp::Hafbridge* hbridge;
+	bsp::AnalogIn* supply;
+	
+	public:
+	CVoutput(bsp::Hafbridge* hbridge, bsp::AnalogIn* supply_u);
+	~CVoutput(void);
+	
+	uint16_t target;
+	uint16_t min_out;
+	
+	void update(void);
+	void enable(void);
+	void disable(void);
+	uint8_t is_enabled(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* CONST_VOLTAGE_OUTPUT_H_ */

firmware/src/hw/devices.cpp

@@ -0,0 +1,67 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "devices.h"
+
+/**** Private definitions ****/
+/**** Private constants ****/
+static const uint16_t def_button_hold_time = 1000;
+static const uint16_t def_max_voltage = 7000;
+static const uint16_t def_min_voltage = 100;
+static const uint16_t def_fuse_treshold = 6000;
+static const uint16_t def_fuse_hold_cycles = 50;
+static const uint16_t def_fuse_cooldown_cycles = 1000;
+
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+void devices_init(void)
+{
+	board_init();
+	
+	btn_up.hold_time = def_button_hold_time;
+	btn_down.hold_time = def_button_hold_time;
+	
+	ccout.max_voltage = def_max_voltage;
+	ccout.max_current = 0;
+	ccout.min_voltage = def_min_voltage;
+	
+	sup_fuse.hold_current = def_fuse_treshold;
+	sup_fuse.trip_cycles = def_fuse_hold_cycles;
+	sup_fuse.cooldown_cycles = def_fuse_cooldown_cycles;
+	
+	out_fuse.hold_current = def_fuse_treshold;
+	out_fuse.trip_cycles = def_fuse_hold_cycles;
+	out_fuse.cooldown_cycles = def_fuse_cooldown_cycles;
+	
+	hvdin3_pull.write(bsp::DOUT_HIGH);
+	
+	devices_update_inputs();
+	
+	display.write(0x00);
+	display.set_brigthness(100);
+	
+	ccout.update();
+	ccout.enable();
+}
+
+void devices_update_inputs(void)
+{
+	board_read();
+	
+	pot.update();
+	
+	btn_mode.update();
+	btn_up.update();
+	btn_down.update();
+	
+	sw_dimm.update();
+	sw_brakes.update();
+	sw_hbrake.update();
+	
+	sup_fuse.update();
+	out_fuse.update();
+	
+	display.process_timer();
+}
+
+/**** Private function definitions ****/

firmware/src/hw/devices.h

@@ -0,0 +1,34 @@
+#ifndef HW_DEVICES_H_
+#define HW_DEVICES_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+#include "../bsp/board.h"
+
+#include "button.h"
+#include "potentiometer.h"
+#include "display_led.h"
+#include "reg_out.h"
+#include "fuse.h"
+
+static hw::Button btn_mode = hw::Button(&din1, bsp::DIN_LOW, 10, hw::BUTTON_OFF);
+static hw::Button btn_up = hw::Button(&din4, bsp::DIN_LOW, 10, hw::BUTTON_OFF);
+static hw::Button btn_down = hw::Button(&din3, bsp::DIN_LOW, 10, hw::BUTTON_OFF);
+
+static hw::Button sw_dimm = hw::Button(&hvdin1, bsp::DIN_HIGH, 10, hw::BUTTON_OFF);
+static hw::Button sw_brakes = hw::Button(&hvdin2, bsp::DIN_HIGH, 10, hw::BUTTON_OFF);
+static hw::Button sw_hbrake = hw::Button(&hvdin3, bsp::DIN_LOW, 10, hw::BUTTON_OFF);
+
+static hw::Potentiometer pot = hw::Potentiometer(&ain2, 500, 4500);
+
+static hw::DisplayLed display = hw::DisplayLed(&odout1, &odout2, &odout3, &odout4, &odout5, &odout6, &od_pwm);
+
+static hw::RegOut ccout = hw::RegOut(&hbridge, &bat_u, &dccd_u, &dccd_i);
+static hw::Fuse sup_fuse =  hw::Fuse(&bat_i);
+static hw::Fuse out_fuse = hw::Fuse(&dccd_i);
+
+void devices_init(void);
+void devices_update_inputs(void);
+
+#endif /* BSP_BOARD_H_ */

firmware/src/hw/display_led.cpp

@@ -0,0 +1,195 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "display_led.h"
+
+using namespace hw;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+static uint8_t img_gen_dot10(uint8_t percent);
+static uint8_t img_gen_dot20(uint8_t percent);
+static uint8_t img_gen_bar(uint8_t percent);
+
+/**** Public function definitions ****/
+hw::DisplayLed::DisplayLed(bsp::DigitalOut* led0, bsp::DigitalOut* led1, bsp::DigitalOut* led2, bsp::DigitalOut* led3, bsp::DigitalOut* led4, bsp::DigitalOut* led5, bsp::PWMout* common)
+{
+	this->led0 = led0;
+	this->led1 = led1;
+	this->led2 = led2;
+	this->led3 = led3;
+	this->led4 = led4;
+	this->led5 = led5;
+	this->common = common;
+	
+	this->led0->write(0);
+	this->led1->write(0);
+	this->led2->write(0);
+	this->led3->write(0);
+	this->led4->write(0);
+	this->led5->write(0);
+	this->common->write(0);
+	
+	this->lock_counter = 0;
+	this->locked = 1;
+}
+
+hw::DisplayLed::~DisplayLed(void)
+{
+	this->led0->write(0);
+	this->led1->write(0);
+	this->led2->write(0);
+	this->led3->write(0);
+	this->led4->write(0);
+	this->led5->write(0);
+	this->common->write(0);
+}
+
+void hw::DisplayLed::show_percent(uint8_t percent, style_t style)
+{
+	uint8_t image = 0x00;
+	
+	switch(style)
+	{
+		case LED_DSP_BAR:
+		image = img_gen_bar(percent);
+		break;
+		
+		case LED_DSP_DOT10:
+		image = img_gen_dot10(percent);
+		break;
+		
+		default:
+		image = img_gen_dot20(percent);
+		break;
+	}
+	
+	this->write(image);
+}
+
+void hw::DisplayLed::write(uint8_t image)
+{
+	if(image&0x01) this->led0->write(1);
+	else this->led0->write(0);
+	
+	if(image&0x02) this->led1->write(1);
+	else this->led1->write(0);
+	
+	if(image&0x04) this->led2->write(1);
+	else this->led2->write(0);
+	
+	if(image&0x08) this->led3->write(1);
+	else this->led3->write(0);
+	
+	if(image&0x10) this->led4->write(1);
+	else this->led4->write(0);
+	
+	if(image&0x20) this->led5->write(1);
+	else this->led5->write(0);
+}
+
+void hw::DisplayLed::set_brigthness(uint8_t percent)
+{
+	this->common->write(percent);
+}
+
+void hw::DisplayLed::set_lock(uint16_t timeout)
+{
+	this->lock_counter = timeout;
+	this->locked = 1;
+}
+
+void hw::DisplayLed::process_timer(void)
+{
+	if(this->lock_counter) this->lock_counter--;
+	else this->locked = 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;
+		
+		default:
+		return 0x20;
+	}
+}
+
+static uint8_t img_gen_dot20(uint8_t percent)
+{
+	switch(percent)
+	{
+		case 0 ... 10:
+		return 0x01;
+		
+		case 11 ... 30:
+		return 0x02;
+		
+		case 31 ... 50:
+		return 0x04;
+		
+		case 51 ... 70:
+		return 0x08;
+		
+		case 71 ... 90:
+		return 0x10;
+		
+		default:
+		return 0x20;
+	}
+}
+
+static uint8_t img_gen_bar(uint8_t percent)
+{
+	switch(percent)
+	{
+		case 0 ... 10:
+		return 0x01;
+		
+		case 11 ... 30:
+		return 0x03;
+		
+		case 31 ... 50:
+		return 0x07;
+		
+		case 51 ... 70:
+		return 0x0F;
+		
+		case 71 ... 90:
+		return 0x1F;
+		
+		default:
+		return 0x3F;
+	}
+}

firmware/src/hw/display_led.h

@@ -0,0 +1,54 @@
+#ifndef DISPLAY_LED_H_
+#define DISPLAY_LED_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/dout.h"
+#include "../bsp/pwm.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class DisplayLed
+{
+	protected:
+	bsp::DigitalOut* led0;
+	bsp::DigitalOut* led1;
+	bsp::DigitalOut* led2;
+	bsp::DigitalOut* led3;
+	bsp::DigitalOut* led4;
+	bsp::DigitalOut* led5;
+	bsp::PWMout* common;
+	
+	uint16_t lock_counter;
+	
+	public:
+	typedef enum {
+		LED_DSP_DOT20,
+		LED_DSP_DOT10,
+		LED_DSP_BAR
+	} style_t;
+	
+	DisplayLed(bsp::DigitalOut* led0, bsp::DigitalOut* led1, bsp::DigitalOut* led2, bsp::DigitalOut* led3, bsp::DigitalOut* led4, bsp::DigitalOut* led5, bsp::PWMout* common);
+	~DisplayLed(void);
+	
+	void show_percent(uint8_t percent, style_t style);
+	void write(uint8_t image);
+	
+	void set_brigthness(uint8_t percent);
+	
+	void set_lock(uint16_t timeout);
+	void process_timer(void);
+	
+	uint8_t locked;
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DISPLAY_LED_H_ */

firmware/src/hw/fuse.cpp

@@ -0,0 +1,66 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "fuse.h"
+
+using namespace hw;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+hw::Fuse::Fuse(bsp::AnalogIn* ain_ch)
+{
+	this->hold_current = 0;
+	this->trip_cycles = 0;
+	this->warning = 0;
+	this->fault = 0;
+	this->cooldown_counter = 0;
+	this->cooldown_cycles = 0;
+	this->retry_cnt = 0;
+}
+
+hw::Fuse::~Fuse(void)
+{
+	return;
+}
+
+void hw::Fuse::update(void)
+{
+	// Under threshold
+	if(this->ain_ch->last_read <= this->hold_current)
+	{
+		// Clear warning flag
+		this->warning = 0;
+		
+		// OC energy counter
+		if(this->oc_counter > 0) this->oc_counter--;
+		
+		// Cool down fuse
+		if(this->cooldown_counter > 0) this->cooldown_counter--;
+		
+		// Auto reset logic
+		if((this->fault)&&(this->cooldown_counter==0))
+		{
+			this->fault = 0;
+			this->retry_cnt = util::sat_add(this->retry_cnt, 1);
+		};
+		return;
+	};
+
+	// Over current condition
+	this->warning = 1;
+		
+	// PC energy counter
+	this->oc_counter = util::sat_add(this->oc_counter, 1);
+		
+	// Check for trip threshold
+	if(this->oc_counter < this->trip_cycles) return;
+		
+	// Trip fuse
+	this->fault = 1;
+	this->cooldown_counter = this->cooldown_cycles;
+}
+
+/**** Private function definitions ****/

firmware/src/hw/fuse.h

@@ -0,0 +1,40 @@
+#ifndef FUSE_H_
+#define FUSE_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/ain.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class Fuse
+{
+	protected:
+	bsp::AnalogIn* ain_ch;
+	uint16_t oc_counter;
+	uint16_t cooldown_counter;
+	
+	public:
+	Fuse(bsp::AnalogIn* ain_ch);
+	~Fuse(void);
+	
+	uint16_t hold_current;
+	uint16_t trip_cycles;
+	uint8_t warning;
+	uint8_t fault;
+	uint16_t cooldown_cycles;
+	uint8_t retry_cnt;
+	
+	void update(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* POTENTIOMETER_H_ */

firmware/src/hw/led_display.cpp

@@ -1,160 +0,0 @@
-/**** 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

@@ -1,66 +0,0 @@
-#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

@@ -1,105 +0,0 @@
-/**** 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

@@ -1,45 +0,0 @@
-#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

@@ -1,139 +0,0 @@
-/**** 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

@@ -1,66 +0,0 @@
-#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

@@ -11,9 +11,12 @@ using namespace hw;
 /**** Private function declarations ****/
 
 /**** Public function definitions ****/
-hw::Potentiometer::Potentiometer(void)
+hw::Potentiometer::Potentiometer(bsp::AnalogIn* ain_ch, uint16_t low_deadzone, uint16_t high_deadzone)
 {
-	return;
+	this->ain_ch = ain_ch;
+	this->low_deadzone = low_deadzone;
+	this->high_deadzone = high_deadzone;
+	this->percent = 0;
 }
 
 hw::Potentiometer::~Potentiometer(void)
@@ -21,26 +24,14 @@ hw::Potentiometer::~Potentiometer(void)
 	return;
 }
 
-void hw::Potentiometer::init(bsp::AnalogIn* ain_ch, uint16_t low_deadzone, uint16_t high_deadzone)
+uint8_t hw::Potentiometer::update(void)
 {
-	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);
+	if(this->ain_ch->last_read <= this->low_deadzone) this->percent = 0;
+	else if(this->ain_ch->last_read >= this->high_deadzone ) this->percent = 100;
+	else this->percent = util::interpolate(this->ain_ch->last_read, this->low_deadzone, this->high_deadzone, 0, 100);
 	
-	return this->last_percent;
+	return this->percent;
 }
 
 /**** Private function definitions ****/

firmware/src/hw/potentiometer.h

@@ -3,31 +3,26 @@
 
 /**** Includes ****/
 #include <stdint.h>
-#include "../bsp/board.h"
+#include "../bsp/ain.h"
 
 namespace hw {
 
 /**** Public definitions ****/
 
 class Potentiometer
-{	
-	public:
-	Potentiometer(void);
-	~Potentiometer(void);
+{
+	protected:
+	bsp::AnalogIn* ain_ch;
 	
-	void init(bsp::AnalogIn* ain_ch, uint16_t low_deadzone, uint16_t high_deadzone);
+	public:
+	Potentiometer(bsp::AnalogIn* ain_ch, uint16_t low_deadzone, uint16_t high_deadzone);
+	~Potentiometer(void);
 	
 	uint16_t low_deadzone;
 	uint16_t high_deadzone;
-	uint8_t last_percent;
-	uint8_t update_ain;
+	uint8_t percent;
 	
-	uint8_t read(void);
-	
-	#ifndef TESTING
-	protected:
-	#endif
-	bsp::AnalogIn* ain_ch;
+	uint8_t update(void);
 };
 
 /**** Public function declarations ****/

firmware/src/hw/reg_out.cpp

@@ -0,0 +1,71 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "reg_out.h"
+
+using namespace hw;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+hw::RegOut::RegOut(bsp::Hafbridge* hbridge, bsp::AnalogIn* sup_u, bsp::AnalogIn* out_u, bsp::AnalogIn* out_i)
+{
+	this->hbridge = hbridge;
+	this->supply_voltage = sup_u;
+	this->out_voltage = out_u;
+	this->out_currnet = out_i;
+	
+	this->max_voltage = 6750;
+	this->max_current = 4500;
+	this->min_voltage = 200;
+	
+	this->set_voltage = 0;
+	this->out_impedance = 0xFFFF;
+	
+	this->hbridge->disable();
+}
+
+hw::RegOut::~RegOut(void)
+{
+	this->hbridge->write((uint16_t)0x0000);
+	this->hbridge->disable();
+	return;
+}
+
+void hw::RegOut::update(void)
+{
+	// Calculate output impedance
+	if((this->out_currnet == 0)||(this->out_voltage->last_read == 0)) this->out_impedance = 0xFFFF;
+	else this->out_impedance = util::sat_div_kilo(this->out_voltage->last_read, this->out_currnet->last_read);
+		
+	// Recalculate output set voltage
+	if((this->max_voltage==0)||(this->max_current==0)) this->set_voltage = 0;
+	else this->set_voltage = util::sat_mul_kilo(this->max_current, this->out_impedance);
+	
+	// Limit set voltage
+	if(this->set_voltage > this->max_voltage) this->set_voltage = this->max_voltage;
+	
+	if((this->set_voltage>0)&&(this->set_voltage < this->min_voltage)) this->set_voltage = this->min_voltage;
+	
+	// Set output
+	this->hbridge->write(util::sat_ratio(this->set_voltage, this->supply_voltage->last_read));
+}
+
+void hw::RegOut::enable(void)
+{
+	this->hbridge->enable();
+}
+
+void hw::RegOut::disable(void)
+{
+	this->hbridge->disable();	
+}
+
+uint8_t hw::RegOut::is_enabled(void)
+{
+	return this->hbridge->is_enabled();
+}
+
+/**** Private function definitions ****/

firmware/src/hw/reg_out.h

@@ -0,0 +1,45 @@
+#ifndef REGULATED_OUTPUT_H_
+#define REGULATED_OUTPUT_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../bsp/ain.h"
+#include "../bsp/halfbridge.h"
+
+namespace hw {
+
+/**** Public definitions ****/
+
+class RegOut
+{
+	protected:
+	bsp::Hafbridge* hbridge;
+	bsp::AnalogIn* supply_voltage;
+	bsp::AnalogIn* out_voltage;
+	bsp::AnalogIn* out_currnet;
+	
+	public:
+	RegOut(bsp::Hafbridge* hbridge, bsp::AnalogIn* sup_u, bsp::AnalogIn* out_u, bsp::AnalogIn* out_i);
+	~RegOut(void);
+	
+	uint16_t max_voltage;
+	uint16_t max_current;
+	uint16_t min_voltage;
+	
+	uint16_t set_voltage;	
+	uint16_t out_impedance;
+	
+	void update(void);
+	void enable(void);
+	void disable(void);
+	uint8_t is_enabled(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* REGULATED_OUTPUT_H_ */

firmware/src/hw/safe_ain.cpp

@@ -1,107 +0,0 @@
-/**** 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

@@ -1,50 +0,0 @@
-#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/logic/button_force.cpp

@@ -0,0 +1,51 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "button_force.h"
+
+using namespace logic;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+logic::ButtonForce::ButtonForce(hw::Button* btn_up, hw::Button* btn_down)
+{
+	this->btn_up = btn_up;
+	this->btn_down = btn_down;
+	this->force = 0;
+	this->step = 10;
+	this->is_new = 0;
+}
+
+logic::ButtonForce::~ButtonForce(void)
+{
+	return;
+}
+
+uint8_t logic::ButtonForce::update(void)
+{	
+	uint8_t next_force = 0;
+	
+	if((this->btn_up->is_new)&&(this->btn_up->state == hw::BUTTON_ON))
+	{
+		next_force = util::sat_add(this->force, this->step);
+		if(next_force > 100) next_force = 100;
+		this->btn_up->is_new = 0;
+	};
+	
+	if((this->btn_down->is_new)&&(this->btn_down->state == hw::BUTTON_ON))
+	{
+		next_force = util::sat_subtract(this->force, this->step);
+		this->btn_down->is_new = 0;
+	};
+	
+	if(next_force != this->force) this->is_new = 1;
+	
+	this->force = next_force;
+	
+	return this->force;
+}
+
+/**** Private function definitions ****/

firmware/src/logic/button_force.h

@@ -0,0 +1,36 @@
+#ifndef BUTTON_FORCE_H_
+#define BUTTON_FORCE_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../hw/button.h"
+
+namespace logic {
+
+/**** Public definitions ****/
+
+class ButtonForce
+{
+	protected:
+	hw::Button* btn_up;
+	hw::Button* btn_down;
+	
+	public:
+	ButtonForce(hw::Button* btn_up, hw::Button* btn_down);
+	~ButtonForce(void);
+
+	uint8_t force;
+	uint8_t step;
+	uint8_t is_new;
+	
+	uint8_t update(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* BUTTON_FORCE_H_ */

firmware/src/logic/cfg_mem.cpp

@@ -0,0 +1,193 @@
+/**** Includes ****/
+#include "cfg_mem.h"
+#include "../bsp/mcu/mcu_hal.h"
+
+using namespace logic;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+static const uint16_t addr_btn_force       = 0x0000;
+static const uint16_t addr_bmode           = 0x0001;
+static const uint16_t addr_pot_mode        = 0x0002;
+static const uint16_t addr_dsp_brigth      = 0x0003;
+static const uint16_t addr_dsp_dimm        = 0x0004;
+static const uint16_t addr_brake_force     = 0x0005;
+static const uint16_t addr_max_hbrake_time = 0x0006;
+static const uint16_t addr_lock_current    = 0x0008;
+static const uint16_t addr_max_out_voltage = 0x000A;
+static const uint16_t addr_min_out_voltage = 0x000C;
+static const uint16_t addr_cfg_good        = 0x000D;
+
+static const uint8_t def_btn_force = 0;
+static const uint8_t def_pot_mode = 0;
+static const uint8_t def_bmode = 0;
+static const uint8_t def_dimm = 50;
+static const uint8_t def_brigth = 100;
+static const uint8_t def_brake_force = 100;
+static const uint16_t def_max_hbrake_time = 1000;
+static const uint16_t def_lock_current = 4500;
+static const uint16_t def_max_out_voltage = 7000;
+static const uint16_t def_min_out_voltage = 200;
+
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+logic::CfgMemory::CfgMemory(void)
+{	
+	this->cfg_good    = 0;
+	
+	this->mem_btn_force    = 0;
+	this->mem_bmode        = 0;
+	this->mem_pot_mode     = 0;
+	this->mem_dsp_brigth   = 0;
+	this->mem_dsp_dimm     = 0;
+	this->mem_brake_force     = 0;
+	this->mem_max_hbrake_time = 0;
+	this->mem_lock_current    = 0;
+	this->mem_max_out_voltage = 0;
+	this->mem_min_out_voltage = 0;
+	
+	this->restore();
+}
+
+logic::CfgMemory::~CfgMemory(void)
+{
+	return;
+}
+
+void logic::CfgMemory::init(void)
+{
+	uint8_t cfg_good_magic    = mcu::eeprom_read8b(addr_cfg_good);
+	this->mem_btn_force       = mcu::eeprom_read8b(addr_btn_force);
+	this->mem_bmode           = mcu::eeprom_read8b(addr_bmode);
+	this->mem_pot_mode        = mcu::eeprom_read8b(addr_pot_mode);
+	this->mem_dsp_brigth      = mcu::eeprom_read8b(addr_dsp_brigth);
+	this->mem_dsp_dimm        = mcu::eeprom_read8b(addr_dsp_dimm);
+	this->mem_brake_force     = mcu::eeprom_read8b(addr_brake_force);
+	this->mem_max_hbrake_time = mcu::eeprom_read16b(addr_max_hbrake_time);
+	this->mem_lock_current    = mcu::eeprom_read16b(addr_lock_current);
+	this->mem_max_out_voltage = mcu::eeprom_read16b(addr_max_out_voltage);
+	this->mem_min_out_voltage = mcu::eeprom_read16b(addr_min_out_voltage);
+	
+	// Validate EEPROM data
+	if(cfg_good_magic == 0x37) this->cfg_good = 1;
+	else this->cfg_good = 0;
+	
+	if(this->cfg_good != 1)
+	{
+		this->mem_btn_force = def_btn_force;
+		this->mem_bmode = def_bmode;
+		this->mem_pot_mode = def_pot_mode;
+		this->mem_dsp_brigth = def_brigth;
+		this->mem_dsp_dimm = def_dimm;
+		this->mem_brake_force = def_brake_force;
+		this->mem_max_hbrake_time = def_max_hbrake_time;
+		this->mem_lock_current = def_lock_current;
+		this->mem_max_out_voltage = def_max_out_voltage;
+		this->mem_min_out_voltage = def_min_out_voltage;
+	}
+	
+	this->restore();
+}
+
+void logic::CfgMemory::save(void)
+{
+	if(this->btn_force != this->mem_btn_force)
+	{
+		this->mem_btn_force = this->btn_force;
+		mcu::eeprom_write8b(addr_btn_force, this->mem_btn_force);
+	};	
+	
+	if(this->bmode != this->mem_bmode)
+	{
+		this->mem_bmode = this->bmode;
+		mcu::eeprom_write8b(addr_bmode, this->mem_bmode);
+	};
+}
+
+void logic::CfgMemory::save_all(void)
+{
+	this->save();
+	
+	if(this->pot_mode != this->mem_pot_mode)
+	{
+		this->mem_pot_mode = this->pot_mode;
+		mcu::eeprom_write8b(addr_pot_mode, this->mem_pot_mode);
+	};
+	
+	if(this->dsp_brigth != this->mem_dsp_brigth)
+	{
+		this->mem_dsp_brigth = this->dsp_brigth;
+		mcu::eeprom_write8b(addr_dsp_brigth, this->mem_dsp_brigth);
+	};
+	
+	if(this->dsp_dimm != this->mem_dsp_dimm)
+	{
+		this->mem_dsp_dimm = this->dsp_dimm;
+		mcu::eeprom_write8b(addr_dsp_dimm, this->mem_dsp_dimm);
+	};
+	
+	if(this->brake_force != this->mem_brake_force)
+	{
+		this->mem_brake_force = this->brake_force;
+		mcu::eeprom_write8b(addr_brake_force, this->mem_brake_force);
+	};
+	
+	if(this->max_hbrake_time != this->mem_max_hbrake_time)
+	{
+		this->mem_max_hbrake_time = this->max_hbrake_time;
+		mcu::eeprom_write16b(addr_max_hbrake_time, this->mem_max_hbrake_time);
+	};
+	
+	if(this->lock_current != this->mem_lock_current)
+	{
+		this->mem_lock_current = this->lock_current;
+		mcu::eeprom_write16b(addr_lock_current, this->mem_lock_current);
+	};
+	
+	if(this->max_out_voltage != this->mem_max_out_voltage)
+	{
+		this->mem_max_out_voltage = this->max_out_voltage;
+		mcu::eeprom_write16b(addr_max_out_voltage, this->mem_max_out_voltage);
+	};
+	
+	if(this->min_out_voltage != this->mem_min_out_voltage)
+	{
+		this->mem_min_out_voltage = this->min_out_voltage;
+		mcu::eeprom_write16b(addr_min_out_voltage, this->mem_min_out_voltage);
+	};
+}
+
+void logic::CfgMemory::restore(void)
+{
+	this->btn_force    = this->mem_btn_force;
+	this->bmode        = this->mem_bmode;
+	this->pot_mode     = this->mem_pot_mode;
+	this->dsp_brigth   = this->mem_dsp_brigth;
+	this->dsp_dimm     = this->mem_dsp_dimm;
+	this->brake_force     = this->mem_brake_force;
+	this->max_hbrake_time = this->mem_max_hbrake_time;
+	this->lock_current    = this->mem_lock_current;
+	this->max_out_voltage = this->mem_max_out_voltage;
+	this->min_out_voltage = this->mem_min_out_voltage;
+}
+
+uint8_t logic::CfgMemory::checksum(void)
+{
+	uint32_t cs = 0;
+	cs += (uint32_t)this->mem_btn_force;
+	cs += (uint32_t)this->mem_bmode;
+	cs += (uint32_t)this->mem_pot_mode;
+	cs += (uint32_t)this->mem_dsp_brigth;
+	cs += (uint32_t)this->mem_dsp_dimm;
+	cs += (uint32_t)this->mem_brake_force;
+	cs += (uint32_t)this->mem_max_hbrake_time;
+	cs += (uint32_t)this->mem_lock_current;
+	cs += (uint32_t)this->mem_max_out_voltage;
+	cs += (uint32_t)this->mem_min_out_voltage;
+	
+	return (uint8_t)cs;
+}
+
+
+/**** Private function definitions ****/

firmware/src/logic/cfg_mem.h

@@ -0,0 +1,56 @@
+#ifndef CONFIG_H_
+#define CONFIG_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../hw/button.h"
+
+namespace logic {
+
+/**** Public definitions ****/
+
+class CfgMemory
+{
+	protected:
+	uint8_t mem_btn_force;
+	uint8_t mem_bmode;
+	uint8_t mem_pot_mode;
+	uint8_t mem_dsp_brigth;
+	uint8_t mem_dsp_dimm;
+	uint8_t mem_brake_force;
+	uint16_t mem_max_hbrake_time;
+	uint16_t mem_lock_current;
+	uint16_t mem_max_out_voltage;
+	uint16_t mem_min_out_voltage;
+
+	public:
+	CfgMemory(void);
+	~CfgMemory(void);
+	
+	uint8_t cfg_good;
+	uint8_t btn_force;
+	uint8_t bmode;
+	uint8_t pot_mode;
+	uint8_t dsp_brigth;
+	uint8_t dsp_dimm;
+	uint8_t brake_force;
+	uint16_t max_hbrake_time;
+	uint16_t lock_current;
+	uint16_t max_out_voltage;
+	uint16_t min_out_voltage;
+	
+	void init(void);
+	void save(void);
+	void save_all(void);
+	void restore(void);
+	uint8_t checksum(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_FORCE_H_ */

firmware/src/logic/dccd_force.cpp

@@ -0,0 +1,84 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "dccd_force.h"
+
+using namespace logic;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+static const uint16_t def_max_hbrake_time = 1000;
+static const uint16_t def_brake_force = 100;
+
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+logic::DccdForce::DccdForce(hw::Button* btn_mode, hw::Button* sw_hbrake, hw::Button* sw_brakes)
+{
+	this->mode = btn_mode;
+	this->handbrake = sw_hbrake;
+	this->brakes = sw_brakes;
+	
+	this->is_new = 0;
+	this->force = 0;
+	this->brake_mode = 0;
+	
+	this->max_hbrake_time = def_max_hbrake_time;
+	this->brake_force = def_brake_force;
+}
+
+logic::DccdForce::~DccdForce(void)
+{
+	return;
+}
+
+uint8_t logic::DccdForce::update(uint8_t user_force)
+{
+	// Process mode button
+	if((this->mode->is_new)&&(this->mode->state == hw::BUTTON_ON))
+	{
+		// Cycle brake mode
+		switch(this->brake_mode)
+		{
+			case 0:
+			this->brake_mode = 1;
+			
+			case 1:
+			this->brake_mode = 2;
+			
+			default:
+			this->brake_mode = 0;
+		}
+		
+		this->mode->is_new = 0;
+		this->is_new_bmode = 1;
+	};
+	
+	// Determine target force source
+	uint8_t next_force = user_force;
+	if((this->handbrake->state == hw::BUTTON_ON)&&((this->handbrake->time < this->max_hbrake_time)||(this->max_hbrake_time == 0)))
+	{
+		next_force = 0;
+	}
+	else if(this->brakes->state == hw::BUTTON_ON)
+	{
+		switch(this->brake_mode)
+		{
+			case 0:
+			next_force = 0;
+			
+			case 1:
+			next_force = user_force;
+			
+			default:
+			next_force = this->brake_force;
+		}
+	};
+	
+	if(next_force != this->force) this->is_new = 1;
+	
+	this->force = next_force;
+	
+	return  this->force;
+}
+
+/**** Private function definitions ****/

firmware/src/logic/dccd_force.h

@@ -0,0 +1,42 @@
+#ifndef DCCD_FORCE_H_
+#define DCCD_FORCE_H_
+
+/**** Includes ****/
+#include <stdint.h>
+#include "../hw/button.h"
+
+namespace logic {
+
+/**** Public definitions ****/
+
+class DccdForce
+{
+	protected:
+	hw::Button* mode;
+	hw::Button* handbrake;
+	hw::Button* brakes;
+	
+	public:
+	DccdForce(hw::Button* btn_mode, hw::Button* sw_hbrake, hw::Button* sw_brakes);
+	~DccdForce(void);
+	
+	uint8_t force;
+	uint8_t is_new;
+	
+	uint8_t brake_mode;
+	uint8_t is_new_bmode;
+	
+	uint16_t max_hbrake_time;
+	uint8_t brake_force;
+	
+	uint8_t update(uint8_t user_force);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* DCCD_FORCE_H_ */

firmware/src/main.cpp

@@ -1,71 +1,124 @@
 /**** Includes ****/
 #include "utils/utils.h"
 
-#include "dccd/dccd_hw.h"
-#include "dccd/dccd.h"
+#include "hw/devices.h"
+
+#include "logic/button_force.h"
+#include "logic/dccd_force.h"
+
+#include "logic/cfg_mem.h"
 
 /**** Private definitions ****/
 /**** Private constants ****/
+static const uint16_t dsp_lock_bmode = 1000;
+static const uint16_t dsp_lock_force = 50;
+
 /**** Private variables ****/
-static dccd::DccdHw dccd_hw;
-static dccd::DccdApp dccd_app;
-static dccd::DccdApp::cfg_app_t def_cfg;
+static logic::CfgMemory cfg_mem = logic::CfgMemory();
+
+static logic::ButtonForce button_force = logic::ButtonForce(&btn_up, &btn_down);
+static logic::DccdForce dccd_force = logic::DccdForce(&btn_mode, &sw_hbrake, &sw_brakes);
 
 /**** 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);
+	// HW setup
+	devices_init();
 	
-	// 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;
+	// Read saved config
+	cfg_mem.init();
 	
-	// App setup
-	dccd_app.init(&dccd_hw, &def_cfg);
+	if(cfg_mem.cfg_good !=1 )
+	{
+		cfg_mem.btn_force = 0;
+		cfg_mem.bmode = 0;
+		cfg_mem.pot_mode = 0;
+		cfg_mem.dsp_brigth = 100;
+		cfg_mem.dsp_dimm = 50;
+		cfg_mem.brake_force = 100;
+		cfg_mem.max_hbrake_time = 1000;
+		cfg_mem.lock_current = 4200;
+		cfg_mem.max_out_voltage = 6500;
+		cfg_mem.min_out_voltage = 500;
+		cfg_mem.save_all();
+	};
+	
+	uint8_t user_force = 0;
+	
+	ccout.max_voltage = cfg_mem.max_out_voltage;
+	ccout.min_voltage = cfg_mem.min_out_voltage;
+	
+	button_force.force = cfg_mem.btn_force;
+	dccd_force.brake_mode = cfg_mem.bmode;
+	dccd_force.max_hbrake_time = cfg_mem.max_hbrake_time;
+	dccd_force.brake_force = cfg_mem.brake_force;
 	
 	// Super loop
 	while(1)
-	{	
-		// Do stuff
-		dccd_app.process();
-		// End of super loop
-		continue; 
+	{				
+		// Update inputs
+		devices_update_inputs();
+		
+		// Update user setting
+		button_force.update();
+		
+		// Select user force input
+		if(cfg_mem.pot_mode) user_force = pot.percent;
+		else user_force = button_force.force;
+		
+		// Calculate next target force
+		dccd_force.update(user_force);
+		
+		// Override force in case of fault
+		if((sup_fuse.fault)||(out_fuse.fault)) dccd_force.force = 0;
+		
+		// Convert force to current
+		ccout.max_current = util::percent_of(dccd_force.force, cfg_mem.lock_current);
+		
+		// Execute outputs
+		ccout.update();
+		
+		// Set display
+		if(dccd_force.is_new_bmode)
+		{
+			uint8_t bmode_img = 0x03;
+			switch(dccd_force.brake_mode)
+			{
+				case 1:
+				bmode_img = 0x0C;
+				break;
+				
+				case 2:
+				bmode_img = 0x30;
+				break;
+				
+				default:
+				bmode_img = 0x03;
+				break;
+			}
+			display.write(bmode_img);
+			display.set_lock(dsp_lock_bmode);
+			dccd_force.is_new_bmode = 0;
+		}
+		else if((button_force.is_new)&&(cfg_mem.pot_mode==0))
+		{
+			display.show_percent(dccd_force.force, hw::DisplayLed::LED_DSP_DOT10);
+			display.set_lock(dsp_lock_force);
+			button_force.is_new = 0;
+		}
+		else if(display.locked==0) display.show_percent(dccd_force.force, hw::DisplayLed::LED_DSP_DOT10);
+		
+		// Process dimm
+		if(sw_dimm.state == hw::BUTTON_ON) display.set_brigthness(cfg_mem.dsp_dimm);
+		else display.set_brigthness(cfg_mem.dsp_brigth);
+		
+		// Save user setting changes
+		cfg_mem.btn_force = button_force.force;
+		cfg_mem.bmode = dccd_force.brake_mode;
+		cfg_mem.save();
+		
+		continue; // End of super loop
 	}
 	
 	// Escape the matrix

firmware/src/uDCCD.cppproj

@@ -40,22 +40,6 @@
         </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>
@@ -175,12 +159,6 @@
     <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>
@@ -193,22 +171,16 @@
     <Compile Include="bsp\din.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="bsp\dout.cpp">
+    <Compile Include="bsp\dio.cpp">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="bsp\dout.h">
+    <Compile Include="bsp\dio.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="bsp\memory.cpp">
+    <Compile Include="bsp\halfbridge.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">
+    <Compile Include="bsp\halfbridge.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="bsp\mcu\mcu_hal.h">
@@ -217,64 +189,16 @@
     <Compile Include="bsp\mcu\mcu_hal_r8.cpp">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="dccd\brakes.cpp">
+    <Compile Include="bsp\dout.cpp">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="dccd\brakes.h">
+    <Compile Include="bsp\dout.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="dccd\dccd.cpp">
+    <Compile Include="bsp\pwm.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">
+    <Compile Include="bsp\pwm.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="hw\button.cpp">
@@ -283,28 +207,22 @@
     <Compile Include="hw\button.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="hw\led_display.cpp">
+    <Compile Include="hw\display_led.cpp">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="hw\led_display.h">
+    <Compile Include="hw\display_led.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="hw\out_reg.cpp">
+    <Compile Include="hw\fuse.cpp">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="hw\out_reg.h">
+    <Compile Include="hw\fuse.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="hw\safe_ain.cpp">
+    <Compile Include="hw\devices.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">
+    <Compile Include="hw\devices.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="hw\potentiometer.cpp">
@@ -313,6 +231,30 @@
     <Compile Include="hw\potentiometer.h">
       <SubType>compile</SubType>
     </Compile>
+    <Compile Include="hw\reg_out.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="hw\reg_out.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\button_force.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\button_force.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\cfg_mem.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\cfg_mem.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\dccd_force.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="logic\dccd_force.h">
+      <SubType>compile</SubType>
+    </Compile>
     <Compile Include="main.cpp">
       <SubType>compile</SubType>
     </Compile>
@@ -328,18 +270,12 @@
     <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="logic" />
     <Folder Include="utils" />
   </ItemGroup>
   <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />

firmware/src/utils/utils.cpp

@@ -17,18 +17,6 @@ uint8_t util::invert(uint8_t x)
 	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;
@@ -109,46 +97,6 @@ uint16_t util::sat_cast(int32_t x)
 	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;

firmware/src/utils/utils.h

@@ -9,8 +9,17 @@ 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);
+
+uint16_t sat_cast(uint32_t x);
+uint16_t sat_cast(int32_t x);
+
+uint16_t convert_muldivoff(uint16_t raw, uint8_t mul, uint8_t div, int16_t offset);
+uint16_t sat_mul_kilo(uint16_t xk, uint16_t yk);
+uint16_t sat_div_kilo(uint16_t top, uint16_t bot);
+uint16_t sat_ratio(uint16_t top, uint16_t bot);
+uint16_t percent_to_16b(uint8_t percent);
+
+uint16_t percent_of(uint8_t percent, uint16_t value);
 
 uint8_t sat_add(uint8_t x, uint8_t y);
 uint16_t sat_add(uint16_t x, uint16_t y);
@@ -24,25 +33,8 @@ 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);
+uint16_t interpolate_1d(uint16_t x, uint16_t* x_axis, uint16_t* y_values, uint8_t len_axis);
+uint16_t interpolate_2d(uint16_t x, uint16_t y, uint16_t* x_axis, uint8_t len_x_axis, uint16_t* y_axis, uint8_t len_y_axis, uint16_t* z_values);
 
 #ifdef TESTING
 #endif

firmware/src/utils/vcounter.cpp

@@ -1,71 +0,0 @@
-/**** 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

@@ -1,42 +0,0 @@
-#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_ */