openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

body/board/util.h

@@ -0,0 +1,33 @@
+// Define to prevent recursive inclusion
+#ifndef UTIL_H
+#define UTIL_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+// Initialization Functions
+void BLDC_Init(void);
+
+// General Functions
+void out_enable(uint8_t led, bool enabled);
+void poweronMelody(void);
+void beepCount(uint8_t cnt, uint8_t freq, uint8_t pattern);
+void beepLong(uint8_t freq);
+void beepShort(uint8_t freq);
+void beepShortMany(uint8_t cnt, int8_t dir);
+void calcAvgSpeed(void);
+
+// Poweroff Functions
+void poweroff(void);
+
+// GPIO functions
+uint8_t detect_with_pull(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, uint32_t mode);
+uint8_t board_id(void);
+
+// Filtering Functions
+void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
+void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
+
+uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly);
+
+#endif