проект запущен шим идет, нужно запустить с пид регулятором вывести все измерения в структуру

B-G474E-DPOW1_Keil/Core/Inc/dcdc.h

@@ -4,6 +4,63 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+/*
+## Runtime configuration model
+
+`g_dcdc_config` is intentionally a global `volatile` structure so it can be
+edited from Keil **Watch**, **Memory**, or a future UART command parser while
+the firmware is running.
+
+Typical live edits during the current HRTIM test:
+
+- `g_dcdc_config.mode = DCDC_MODE_PWM_TEST`
+- `g_dcdc_config.pwm.frequency_hz = 200000`
+- `g_dcdc_config.pwm.test_duty_permille = 100`
+- `g_dcdc_config.pwm.deadtime_rising_ticks = 34`
+- `g_dcdc_config.pwm.deadtime_falling_ticks = 34`
+*/
+typedef enum
+{
+    DCDC_MODE_MONITOR = 0,
+    DCDC_MODE_PWM_TEST,
+    DCDC_MODE_CLOSED_LOOP
+} DCDC_Mode;
+
+typedef struct
+{
+    uint32_t frequency_hz;
+    uint32_t test_duty_permille;
+    uint32_t max_duty_permille;
+    uint32_t deadtime_enable;
+    uint32_t deadtime_rising_ticks;
+    uint32_t deadtime_falling_ticks;
+} DCDC_PwmRuntimeConfig;
+
+typedef struct
+{
+    uint32_t target_vout_mv;
+    uint32_t min_vin_mv;
+    uint32_t max_vout_mv;
+    uint32_t current_limit_ma;
+    uint32_t hard_current_ma;
+} DCDC_LimitsRuntimeConfig;
+
+typedef struct
+{
+    int32_t kp_ticks_per_100mv;
+    int32_t ki_ticks_per_100mv;
+    int32_t current_limit_kp;
+} DCDC_LoopRuntimeConfig;
+
+typedef struct
+{
+    uint32_t mode;
+    uint32_t connect_usbpd_input;
+    DCDC_PwmRuntimeConfig pwm;
+    DCDC_LimitsRuntimeConfig limits;
+    DCDC_LoopRuntimeConfig loop;
+} DCDC_RuntimeConfig;
+
 typedef struct
 {
     uint16_t vin_raw;
@@ -18,6 +75,7 @@ typedef enum
 {
     DCDC_STATE_STOPPED = 0,
     DCDC_STATE_READY,
+    DCDC_STATE_PWM_TEST,
     DCDC_STATE_RUNNING,
     DCDC_STATE_FAULT
 } DCDC_State;
@@ -31,17 +89,24 @@ typedef enum
     DCDC_FAULT_HRTIM
 } DCDC_Fault;
 
+extern volatile DCDC_RuntimeConfig g_dcdc_config;
+
 void DCDC_Init(void);
 void DCDC_Start(void);
+void DCDC_StartPwmTest(void);
 void DCDC_Stop(void);
+void DCDC_Service1ms(void);
+void DCDC_ApplyRuntimeConfig(void);
 void DCDC_ControlStep(void);
 void DCDC_ReadMeasurements(DCDC_Measurements *out);
 
+DCDC_Mode DCDC_GetMode(void);
 DCDC_State DCDC_GetState(void);
 DCDC_Fault DCDC_GetFault(void);
 bool DCDC_IsHrtimReady(void);
 uint32_t DCDC_GetDutyTicks(void);
 uint32_t DCDC_GetPeriodTicks(void);
+const char *DCDC_ModeText(DCDC_Mode mode);
 const char *DCDC_StateText(DCDC_State state);
 const char *DCDC_FaultText(DCDC_Fault fault);