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ADC已完成

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This commit is contained in:
cbb
2025-10-02 02:52:07 +08:00
parent 6f89355a8a
commit 20fbb30067
19 changed files with 424 additions and 258 deletions
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Robot_V2/device/ADC.cpp
+6 -4
View File
@@ -1,4 +1,5 @@
#include "adc.h"
#include <cstdio>
#include <stdint.h>
#include "math.h"
@@ -11,10 +12,11 @@ constexpr float MAX_TEMP = 150.0f;
constexpr float MIN_TEMP = -40.0f;
constexpr float MAX_CURRENT = 50.0f;
constexpr float MIN_CURRENT = -0.1f;
constexpr float MAX_VCC = 40.0f;
constexpr float MIN_VCC = 0.0f;
constexpr float MAX_VCC = 65.0f;
constexpr float MIN_VCC = -0.1f;
extern const u16 adc_value[7];
u16 adc_value[7] = {0}; // 显式初始化数组元素为0
/**
* @brief 获取MCU温度
@@ -103,7 +105,7 @@ float get_vbus_voltage() {
vcc_latest = adc_value[6] * ADC_SCALE * VCC_FACTOR;
// 检查电压读数是否在有效范围内
if (vcc_latest > MAX_VCC || vcc_latest < MAX_VCC) {
if (vcc_latest > MAX_VCC || vcc_latest < MIN_VCC) {
return ERROR_ADC_VAL;
}
}
Robot_V2/device/Can.cpp
+143 -100
View File
@@ -1,7 +1,10 @@
#include "Can.h"
#include "gd32c10x_can.h"
#include "gd32c10x_eval.h"
#include <cstdio>
#include <inttypes.h>
#include <stdint.h>
#include <stdio.h>
#define DEV_CAN_LOOPBACK_ID 0x0000
#define DEV_CAN0_ID 0xaabb
@@ -12,10 +15,14 @@ u8 can_gpio_init() {
rcu_periph_clock_enable(RCU_CAN0);
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_AF);
/* configure CAN0 GPIO */
gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_MAX, GPIO_PIN_11);
gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_MAX, GPIO_PIN_12);
/* enable the EN GPIO clock */
rcu_periph_clock_enable(RCU_GPIOB);
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_bit_reset(GPIOB, GPIO_PIN_13);
return 0;
}
@@ -27,6 +34,7 @@ u8 can_gpio_init() {
*/
void can_config(void) {
can_parameter_struct can_parameter;
can_filter_parameter_struct can_filter;
can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
/* initialize CAN register */
@@ -44,24 +52,31 @@ void can_config(void) {
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
can_parameter.prescaler = 6;
can_parameter.prescaler = 12;
/* initialize CAN */
can_init(CAN0, &can_parameter);
/* initialize filter */
can1_filter_start_bank(14);
can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0,
0);
/* initialize filter */
/* configure filter mode */
can_filter.filter_mode = CAN_FILTERMODE_MASK;
can_filter.filter_bits = CAN_FILTERBITS_32BIT;
/* configure filter ID */
can_filter.filter_list_high = (uint16_t)(DEV_CAN_LOOPBACK_ID >> 13U);
can_filter.filter_list_low = ((uint16_t)(DEV_CAN_LOOPBACK_ID)) << 3U | (1U << 2);
/* configure filter mask */
can_filter.filter_mask_high = 0x0000;
can_filter.filter_mask_low = 0x0000;
/* select receiver fifo */
can_filter.filter_fifo_number = CAN_FIFO0;
can_filter.filter_enable = ENABLE;
can_filter_init(&can_filter);
/* configure CAN0 NVIC */
nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
/* enable the EN GPIO clock */
rcu_periph_clock_enable(RCU_GPIOB);
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_bit_reset(GPIOB, GPIO_PIN_13);
}
/*!
@@ -74,9 +89,13 @@ void canfd_config(void) {
can_parameter_struct can_parameter;
can_fdframe_struct can_fd_parameter;
can_fd_tdc_struct can_fd_tdc_parameter;
can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
/* initialize CAN register */
can_deinit(CAN0);
can_filter_parameter_struct can_filter;
/* enable CAN clock */
rcu_periph_clock_enable(RCU_CAN0);
/* initialize CAN register */
can_deinit(CAN0);
/* initialize CAN parameters */
can_parameter.time_triggered = DISABLE;
@@ -90,7 +109,7 @@ void canfd_config(void) {
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
can_parameter.prescaler = 6;
can_parameter.prescaler = 12;
/* initialize CAN */
can_init(CAN0, &can_parameter);
@@ -110,23 +129,17 @@ void canfd_config(void) {
can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
/* CAN-FD data segement prescaler should be the same as non-data segement
* prescaler */
can_fd_parameter.data_prescaler = 6;
can_fd_parameter.data_prescaler = 12;
can_fd_init(CAN0, &can_fd_parameter);
/* initialize filter */
can1_filter_start_bank(14);
can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0,
0);
/* initialize filter */
can1_filter_start_bank(14);
can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
/* configure CAN0 NVIC */
nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
/* enable the EN GPIO clock */
rcu_periph_clock_enable(RCU_GPIOB);
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_bit_reset(GPIOB, GPIO_PIN_13);
/* configure CAN0 NVIC */
nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
}
/*!
@@ -137,27 +150,54 @@ void canfd_config(void) {
*/
void can_loopback_init(void) {
can_parameter_struct can_parameter;
can_fdframe_struct can_fd_parameter;
can_fd_tdc_struct can_fd_tdc_parameter;
can_filter_parameter_struct can_filter;
/* enable CAN clock */
rcu_periph_clock_enable(RCU_CAN0);
/* enable CAN clock */
rcu_periph_clock_enable(RCU_CAN0);
/* initialize CAN register */
can_deinit(CAN0);
/* initialize CAN register */
can_deinit(CAN0);
/* initialize CAN */
/* initialize CAN parameters */
can_parameter.time_triggered = DISABLE;
can_parameter.auto_bus_off_recovery = DISABLE;
can_parameter.auto_wake_up = DISABLE;
can_parameter.auto_retrans = DISABLE;
can_parameter.rec_fifo_overwrite = DISABLE;
can_parameter.trans_fifo_order = DISABLE;
can_parameter.auto_retrans = ENABLE;
can_parameter.rec_fifo_overwrite = ENABLE;
can_parameter.trans_fifo_order = ENABLE;
can_parameter.working_mode = CAN_LOOPBACK_MODE;
/* baudrate 1Mbps, sample piont at 80% */
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
can_parameter.prescaler = 6;
can_parameter.prescaler = 12;
/* initialize CAN */
can_init(CAN0, &can_parameter);
can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
can_fd_parameter.fd_frame = ENABLE;
can_fd_parameter.excp_event_detect = ENABLE;
can_fd_parameter.delay_compensation = ENABLE;
can_fd_tdc_parameter.tdc_filter = 0x04;
can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
can_fd_tdc_parameter.tdc_offset = 0x04;
can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
/* FD mode data baudrate 2Mbps, sample piont at 80% */
can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
/* CAN-FD data segement prescaler should be the same as non-data segement
* prescaler */
can_fd_parameter.data_prescaler = 12;
can_fd_init(CAN0, &can_fd_parameter);
/* initialize filter */
can1_filter_start_bank(14);
can_filter_mask_mode_init(DEV_CAN_LOOPBACK_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
}
/*!
@@ -167,51 +207,51 @@ void can_loopback_init(void) {
\retval ErrStatus
*/
void can_loopback_test(void) {
can_trasnmit_message_struct transmit_message;
can_receive_message_struct receive_message;
uint32_t timeout = 0xFFFF;
uint8_t transmit_mailbox = 0;
can_trasnmit_message_struct transmit_message;
can_receive_message_struct receive_message;
uint32_t timeout = 0xFFFF;
uint8_t transmit_mailbox = 0;
can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
/* initialize transmit message */
transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
transmit_message.tx_ft = CAN_FT_DATA;
transmit_message.tx_ff = CAN_FF_STANDARD;
transmit_message.tx_dlen = 2;
transmit_message.tx_data[0] = 0xAB;
transmit_message.tx_data[1] = 0xCD;
/* transmit message */
transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
/* waiting for transmit completed */
while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
(0 != timeout)) {
timeout--;
}
timeout = 0xFFFF;
/* waiting for receive completed */
while ((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) &&
(0 != timeout)) {
timeout--;
}
can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
can_message_receive(CAN0, CAN_FIFO0, &receive_message);
can_struct_para_init(CAN_FD_FRAME_STRUCT, &transmit_message);
transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
transmit_message.tx_efid = 0x00;
transmit_message.tx_ft = CAN_FT_DATA;
transmit_message.tx_ff = CAN_FF_EXTENDED;
transmit_message.tx_dlen = 12;
transmit_message.fd_flag = 1;
transmit_message.fd_brs = 1;
transmit_message.fd_esi = 0;
/* check the receive message */
if ((DEV_CAN_LOOPBACK_ID == receive_message.rx_sfid) &&
(CAN_FF_STANDARD == receive_message.rx_ff) &&
(2 == receive_message.rx_dlen) &&
(0xCDAB ==
(receive_message.rx_data[1] << 8 | receive_message.rx_data[0]))) {
/* loopback test is success */
printf("loopback success\r");
for (u8 i = 0U; i < receive_message.rx_dlen; i++) {
printf(" %02x", receive_message.rx_data[i]);
}
} else {
/* loopback test is failed */
printf("loopback failed\r");
int i = 0;
while (i++<transmit_message.tx_dlen) {
transmit_message.tx_data[i] = i;
}
/* transmit message */
transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
/* waiting for transmit completed */
while((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) && (0 != timeout)) {
timeout--;
}
timeout = 0xFFFF;
/* waiting for receive completed */
while((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) && (0 != timeout)) {
timeout--;
}
can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
can_message_receive(CAN0, CAN_FIFO0, &receive_message);
/* check the receive message */
if((transmit_message.tx_sfid == receive_message.rx_sfid) && (transmit_message.tx_ff == receive_message.rx_ff)
&& (transmit_message.tx_dlen == receive_message.rx_dlen) ) {
/* loopback test is success */
std::printf("CAN LO0PBACK SUCCESS");
} else {
/* loopback test is failed */
std::printf("CAN LO0PBACK FAIL");
}
}
/*!
@@ -383,27 +423,6 @@ u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
}
// 添加辅助函数用于将short类型数据打包到u8数组中
void pack_short_to_bytes(u8* buffer, u16 offset, short value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将u16类型数据打包到u8数组中
void pack_u16_to_bytes(u8* buffer, u16 offset, u16 value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将float类型数据打包到u8数组中
void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
buffer[offset] = float_union.b[0];
buffer[offset + 1] = float_union.b[1];
buffer[offset + 2] = float_union.b[2];
buffer[offset + 3] = float_union.b[3];
}
/**
* @brief CAN发送函数
* @retval 0: 发送失败
@@ -412,7 +431,31 @@ void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
u8 CAN_transmiter::CAN_all_Send(){
u32 success_flag = 0;
constexpr u32 RT_Vel_Ang_FEED = 0x101;
constexpr u32 SET_Vel_Ang_FEED = 0x110;
constexpr u32 Current_FEED = 0x117;
constexpr u32 Status_FEED = 0x118;
constexpr u32 Limit_Vel_Vol_FEED = 0x119;
//打包RT_Vel_Ang_FEED
pack_float_to_bytes(transmit_data, 0, rt_angle_union);
pack_float_to_bytes(transmit_data, 4, rt_velocity_union);
//打包SET_Vel_Ang_FEED
pack_float_to_bytes(transmit_data, 0, target_angle_union);
pack_float_to_bytes(transmit_data, 4, target_velocity_union);
//打包Current_FEED
pack_float_to_bytes(transmit_data, 0, u_current_union);
pack_float_to_bytes(transmit_data, 4, w_current_union);
pack_float_to_bytes(transmit_data, 8, v_current_union);
//打包Status_FEED
transmit_data[0] = Status_code;
transmit_data[1] = controller_Mode;
pack_short_to_bytes(transmit_data, 2, motor_temp);
pack_short_to_bytes(transmit_data, 4, mcu_temp);
pack_short_to_bytes(transmit_data, 6, Power_Voltage);
//打包Limit_Vel_Vol_FEED
pack_float_to_bytes(transmit_data, 0, limit_velocity_union);
pack_short_to_bytes(transmit_data, 4, limit_voltage);
return success_flag;
}
Robot_V2/device/Can.h
+26 -5
View File
@@ -11,17 +11,38 @@ extern "C" {
#include "stdint.h"
#include <stdio.h>
u8 can_gpio_init(void);
void can_config(void);
void canfd_config(void);
void can_loopback_init(void);
void can_loopback_test(void);
// 定义一个联合体类型用于float和byte数组之间的转换
typedef union {
float f;
u8 b[4];
} float_union_t;
// 添加辅助函数用于将short类型数据打包到u8数组中
static inline void pack_short_to_bytes(u8* buffer, u16 offset, short value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将u16类型数据打包到u8数组中
static inline void pack_u16_to_bytes(u8* buffer, u16 offset, u16 value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将float类型数据打包到u8数组中
static inline void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
buffer[offset] = float_union.b[0];
buffer[offset + 1] = float_union.b[1];
buffer[offset + 2] = float_union.b[2];
buffer[offset + 3] = float_union.b[3];
}
u8 can_gpio_init(void);
void can_config(void);
void canfd_config(void);
void can_loopback_init(void);
void can_loopback_test(void);
/*!
\brief CAN通信类
\note 封装CAN发送和接收功能
Robot_V2/device/Timer.cpp
+48 -39
View File
@@ -1,18 +1,22 @@
#include "Timer.h"
#include "adc.h"
#include "gd32c10x.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_timer.h"
#include "initial.h"
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
constexpr int TIMER1_PRESCALER = 11999;
constexpr int TIMER1_PERIOD = 9999;
constexpr int TIMER1_PRESCALER = 1199;
constexpr int TIMER1_PERIOD = 9;
constexpr int TIMER0_PRESCALER = 5999;
constexpr int TIMER0_PERIOD = 15999;
constexpr int TIMER0_CH0_PULSE = 4000;
constexpr int TIMER0_CH1_PULSE = 6000;
constexpr int TIMER0_CH2_PULSE = 8000;
extern u16 adc_value[7];
/**
* @brief 设置引脚中断优先级
@@ -22,7 +26,7 @@ constexpr int TIMER0_CH2_PULSE = 8000;
*/
void nvic_config(void) {
/* 设置NVIC优先级分组，1位抢占优先级，3位响应优先级 */
nvic_priority_group_set(NVIC_PRIGROUP_PRE1_SUB3);
nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
/* 使能TIMER1中断，设置抢占优先级为1，子优先级为1 */
nvic_irq_enable(TIMER1_IRQn, 1, 1);
}
@@ -40,7 +44,7 @@ void timer1_config(void) {
1s).
----------------------------------------------------------------------------
*/
timer_parameter_struct timer_initpara;
timer_parameter_struct timer_struct;
/* 使能TIMER1时钟 */
rcu_periph_clock_enable(RCU_TIMER1);
@@ -48,16 +52,16 @@ void timer1_config(void) {
/* 复位TIMER1外设到默认状态 */
timer_deinit(TIMER1);
/* 初始化TIMER初始化参数结构体 */
timer_struct_para_init(&timer_initpara);
timer_struct_para_init(&timer_struct);
/* TIMER1配置参数设置 */
timer_initpara.prescaler =
timer_struct.prescaler =
TIMER1_PRESCALER; /* 预分频值：12000分频(从0开始计数) */
timer_initpara.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
timer_initpara.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
timer_initpara.period =
timer_struct.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
timer_struct.period =
TIMER1_PERIOD; /* 自动重装载值：10000次计数(从0开始计数) */
timer_initpara.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
timer_init(TIMER1, &timer_initpara);
timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
timer_init(TIMER1, &timer_struct);
/* 清除更新中断标志位 */
timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
@@ -73,10 +77,10 @@ void timer1_config(void) {
* @return void
*/
void User_timer_init(void) {
/* 配置TIMER1中断 */
nvic_config();
/* 配置TIMER1 */
timer1_config();
/* 配置TIMER1中断 */
nvic_config();
}
/**
@@ -84,35 +88,41 @@ void User_timer_init(void) {
* @return void
*/
void TIMER1_IRQHandler(void) {
u32 cnt = timer_counter_read(TIMER1);
// 检查更新中断标志并处理
if (timer_interrupt_flag_get(TIMER1, TIMER_INT_UP) != RESET) {
// 清除更新中断标志
timer_interrupt_flag_clear(TIMER1, TIMER_INT_UP);
// 使用静态变量来跟踪定时器事件
static u8 ms_counter = 0;
static u8 tens_counter = 0;
static u8 hundreds_counter = 0;
static u16 seconds_counter = 0;
// 根据计数器值执行不同的定时任务
// 每100us执行一次
// (此处可以添加需要每100us执行的代码)
// 增加计数器
ms_counter++;
if (ms_counter >= 10) {
ms_counter = 0;
tens_counter++;
// 每1ms执行的代码可以放在这里
if (tens_counter >= 10) {
tens_counter = 0;
hundreds_counter++;
// 每1ms执行一次 (100us * 10)
if (cnt % 10 == 0) {
// 添加需要每1ms执行的代码
}
// 每10ms执行的代码可以放在这里
// 每10ms执行一次 (100us * 100)
if (cnt % 100 == 0) {
// 添加需要每10ms执行的代码
}
if (hundreds_counter >= 10) {
hundreds_counter = 0;
seconds_counter++;
// 每100ms执行的代码可以放在这里
// 每100ms执行一次 (100us * 1000)
if (cnt % 1000 == 0) {
// 添加需要每100ms执行的代码
}
// 每1s执行一次 (100us * 10000)
if (cnt % 10000 == 0) {
// 添加需要每1s执行的代码
}
if (SET == timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_UP)) {
/* 清除更新中断标志位 */
timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
if (seconds_counter >= 10) {
seconds_counter = 0;
// 每1s执行的代码可以放在这里
}
}
}
}
}
}
@@ -133,7 +143,6 @@ void timer0_gpio_config(void) {
gpio_pin_remap_config(GPIO_TIMER0_FULL_REMAP, ENABLE);
}
/**
* @brief TIMER0 配置函数
*/
Robot_V2/device/Timer.h
+1 -1
View File
@@ -10,7 +10,7 @@ extern "C" {
void User_timer_init(void);
void Timer0_init(void);
void Set_Pwm(u16 channel,u32 pulse);
void TIMER1_IRQHandler(void);
#ifdef __cplusplus
}
#endif
Robot_V2/device/adc.h
-1
View File
@@ -7,7 +7,6 @@ extern "C" {
#include "stdint.h"
const u16 adc_value[7] = {0}; // 显式初始化数组元素为0
float get_mcu_temp(void);
float get_drv_temp(void);
float get_vbus_voltage(void);