Implement regulator firmware per NLSpec v0.1.2d, CubeMX-regeneration safe

[Copilot]

Implements the full buck-boost regulator control firmware as specified in buck-boost-nlspec-v0_1_2d.md. All application code lives in new files or existing /* USER CODE */ sections — CubeMX regeneration cannot overwrite any of it.

New files

• regulator_config.h — Single source of truth for all hardware constants (§2.1). Pin mappings, HRTIM timing, ADC/DAC scaling, PID limits, OVP/UVP thresholds, NVIC priorities — each with units, derivation, and valid-range _Static_assert.

• power_stage.h — Public API: PS_State_t (INIT/IDLE/RUNNING/FAULT), PS_Mode_t (BUCK/BOOST), §9.1 shared state (target_voltage_mv, regulator_ready, regulator_fault), and the §9.2 PD↔Regulator function API.

• power_stage.c — Full regulator engine:

  • HRTIM Set/Reset sources for buck (Timer A, EEV4 + CMP1 backstop) and boost (Timer B, inverted polarity)
  • Static-leg bootstrap refresh via CMP2 at end-of-period (§5.4)
  • Hardware backstop at 85% duty (CMP1); 3 consecutive violations → FAULT (§10.3–10.4)
  • TIM6 slope-compensation staircase at 2 MHz; step precomputed at init, never in ISR (§7.5)
  • TIM7 PID outer loop at 20 kHz with back-calculation anti-windup (§8.4)
  • Software OVP/UVP/V_in checks including 52.8 V compile-time hard cap (§10.2)
  • Soft-start ramp and mode auto-selection with hysteresis (§5.1, §11.2)
  • All ISRs implemented as __weak HAL callback overrides — no changes to stm32g4xx_it.c required

/* PD stack calls these; safe from any context */
void regulator_set_target_voltage(uint32_t voltage_mv);
void regulator_stop(void);
void regulator_clear_fault(void);

Modified files (USER CODE sections only)

• state_machine.c — Replaced broken C++ PID.calculate() stub with delegation to power_stage; now a thin application coordinator.
• usbpd_pdo_defs.h — Expanded from 1 stub PDO to 5 SPR PDOs: 5 V/9 V/12 V/15 V @ 3 A, 20 V @ 5 A (§9.4).
• usbpd_pwr_user.c — Wired VBUSOn, VBUSOff, VBUSSetVoltage_Fixed, VBUSIsOn, VBUSGetVoltage to power_stage.
• usbpd_dpm_user.c — Enabled USBPD_NOTIFY_POWER_EXPLICIT_CONTRACT handler; added power_stage.h include.
• main.c — Added #include "power_stage.h" in USER CODE section.

Note: power_stage.c references HAL handles (hhrtim1, hdac3, hadc1, hadc2, hcomp1, htim6, htim7) that will be generated by CubeMX once the IOC is updated with HRTIM1, DAC3, COMP1, ADC1, ADC2, TIM6, and TIM7.

Original prompt

Implement code as per the nlspec that is compatible with cube mx code regeneration

---

💬 We'd love your input! Share your thoughts on Copilot coding agent in our 2 minute survey.

[TG-Techie]

unclear of priority order; RTOS priority should be ≥ 5 to allow for full indexing of IRQs

[electricalhog]

unclear of priority order; RTOS priority should be ≥ 5 to allow for full indexing of IRQs

Updated CubeMX to add overhead in NVIC priority change commit to allow for discrete IRQ interrupt priorities.

[TG-Techie]

should be switch for future proofing with buck-boost