*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,63 @@
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __LOW_LEVEL_H
+#define __LOW_LEVEL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <cmsis_os.h>
+#include <stdbool.h>
+#include <adc.h>
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+#define ADC_CHANNEL_COUNT 16
+extern const float adc_full_scale;
+extern const float adc_ref_voltage;
+/* Exported variables --------------------------------------------------------*/
+extern float vbus_voltage;
+extern float ibus_;
+extern bool brake_resistor_armed;
+extern bool brake_resistor_saturated;
+extern float brake_resistor_current;
+extern uint16_t adc_measurements_[ADC_CHANNEL_COUNT];
+extern osThreadId analog_thread;
+extern const uint32_t stack_size_analog_thread;
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+void safety_critical_arm_brake_resistor();
+void safety_critical_disarm_brake_resistor();
+void safety_critical_apply_brake_resistor_timings(uint32_t low_off, uint32_t high_on);
+
+// called from STM platform code
+extern "C" {
+void vbus_sense_adc_cb(uint32_t adc_value);
+void pwm_in_cb(TIM_HandleTypeDef *htim);
+}
+
+// Initalisation
+void start_adc_pwm();
+void start_pwm(TIM_HandleTypeDef* htim);
+void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
+                 uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset,
+                 TIM_HandleTypeDef* htim_refbase = nullptr);
+void start_general_purpose_adc();
+void pwm_in_init();
+void start_analog_thread();
+
+// ADC getters
+uint16_t channel_from_gpio(Stm32Gpio gpio);
+float get_adc_voltage(Stm32Gpio gpio);
+float get_adc_relative_voltage(Stm32Gpio gpio);
+float get_adc_relative_voltage_ch(uint16_t channel);
+
+void update_brake_current();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //__LOW_LEVEL_H