/* Includes ------------------------------------------------------------------*/

#include <board.h>

#include <cmsis_os.h>
#include <math.h>
#include <stdint.h>
#include <stdlib.h>

#include <adc.h>
#include <gpio.h>
#include <main.h>
#include <spi.h>
#include <tim.h>
#include <utils.hpp>

#include "odrive_main.h"

/* Private defines -----------------------------------------------------------*/

// #define DEBUG_PRINT

/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
constexpr float adc_full_scale = static_cast<float>(1UL << 12UL);
constexpr float adc_ref_voltage = 3.3f;
/* Global variables ----------------------------------------------------------*/

// This value is updated by the DC-bus reading ADC.
// Arbitrary non-zero inital value to avoid division by zero if ADC reading is late
float vbus_voltage = 12.0f;
float ibus_ = 0.0f; // exposed for monitoring only
bool brake_resistor_armed = false;
bool brake_resistor_saturated = false;
/* Private constant data -----------------------------------------------------*/
/* CPU critical section helpers ----------------------------------------------*/

/* Safety critical functions -------------------------------------------------*/

/*
* This section contains all accesses to safety critical hardware registers.
* Specifically, these registers:
*   Motor0 PWMs:
*     Timer1.MOE (master output enabled)
*     Timer1.CCR1 (counter compare register 1)
*     Timer1.CCR2 (counter compare register 2)
*     Timer1.CCR3 (counter compare register 3)
*   Motor1 PWMs:
*     Timer8.MOE (master output enabled)
*     Timer8.CCR1 (counter compare register 1)
*     Timer8.CCR2 (counter compare register 2)
*     Timer8.CCR3 (counter compare register 3)
*   Brake resistor PWM:
*     Timer2.CCR3 (counter compare register 3)
*     Timer2.CCR4 (counter compare register 4)
* 
* The following assumptions are made:
*   - The hardware operates as described in the datasheet:
*     http://www.st.com/content/ccc/resource/technical/document/reference_manual/3d/6d/5a/66/b4/99/40/d4/DM00031020.pdf/files/DM00031020.pdf/jcr:content/translations/en.DM00031020.pdf
*     This assumption also requires for instance that there are no radiation
*     caused hardware errors.
*   - After startup, all variables used in this section are exclusively modified
*     by the code in this section (this excludes function parameters)
*     This assumption also requires that there is no memory corruption.
*   - This code is compiled by a C standard compliant compiler.
*
* Furthermore:
*   - Between calls to safety_critical_arm_motor_pwm and
*     safety_critical_disarm_motor_pwm the motor's Ibus current is
*     set to the correct value and update_brake_resistor is called
*     at a high rate.
*/

// @brief Floats ALL phases immediately and disarms both motors and the brake resistor.
void low_level_fault(Motor::Error error) {
    // Disable all motors NOW!
    for (size_t i = 0; i < AXIS_COUNT; ++i) {
        safety_critical_disarm_motor_pwm(axes[i].motor_);
        axes[i].motor_.error_ |= error;
    }

    safety_critical_disarm_brake_resistor();
}

// @brief Kicks off the arming process of the motor.
// All calls to this function must clearly originate
// from user input.
void safety_critical_arm_motor_pwm(Motor& motor) {
    uint32_t mask = cpu_enter_critical();
    if (brake_resistor_armed) {
        motor.armed_state_ = Motor::ARMED_STATE_WAITING_FOR_TIMINGS;
    }
    cpu_exit_critical(mask);
}

// @brief Disarms the motor PWM.
// After calling this function, it is guaranteed that all three
// motor phases are floating and will not be enabled again until
// safety_critical_arm_motor_phases is called.
// @returns true if the motor was in a state other than disarmed before
bool safety_critical_disarm_motor_pwm(Motor& motor) {
    uint32_t mask = cpu_enter_critical();
    bool was_armed = motor.armed_state_ != Motor::ARMED_STATE_DISARMED;
    motor.armed_state_ = Motor::ARMED_STATE_DISARMED;
    __HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motor.timer_);
    cpu_exit_critical(mask);
    return was_armed;
}

// @brief Updates the phase timings unless the motor is disarmed.
//
// If this is called at a rate higher than the motor's timer period,
// the actual PMW timings on the pins can be undefined for up to one
// timer period.
void safety_critical_apply_motor_pwm_timings(Motor& motor, uint16_t timings[3]) {
    uint32_t mask = cpu_enter_critical();
    if (!brake_resistor_armed) {
        motor.armed_state_ = Motor::ARMED_STATE_DISARMED;
    }

    motor.timer_->Instance->CCR1 = timings[0];
    motor.timer_->Instance->CCR2 = timings[1];
    motor.timer_->Instance->CCR3 = timings[2];

    if (motor.armed_state_ == Motor::ARMED_STATE_WAITING_FOR_TIMINGS) {
        // timings were just loaded into the timer registers
        // the timer register are buffered, so they won't have an effect
        // on the output just yet so we need to wait until the next
        // interrupt before we actually enable the output
        motor.armed_state_ = Motor::ARMED_STATE_WAITING_FOR_UPDATE;
    } else if (motor.armed_state_ == Motor::ARMED_STATE_WAITING_FOR_UPDATE) {
        // now we waited long enough. Enter armed state and
        // enable the actual PWM outputs.
        motor.armed_state_ = Motor::ARMED_STATE_ARMED;
        __HAL_TIM_MOE_ENABLE(motor.timer_);  // enable pwm outputs
    } else if (motor.armed_state_ == Motor::ARMED_STATE_ARMED) {
        // nothing to do, PWM is running, all good
    } else {
        // unknown state oh no
        safety_critical_disarm_motor_pwm(motor);
    }
    cpu_exit_critical(mask);
}

// @brief Arms the brake resistor
void safety_critical_arm_brake_resistor() {
    uint32_t mask = cpu_enter_critical();
    brake_resistor_armed = true;
    htim2.Instance->CCR3 = 0;
    htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
    cpu_exit_critical(mask);
}

// @brief Disarms the brake resistor and by extension
// all motor PWM outputs.
// After calling this, the brake resistor can only be armed again
// by calling safety_critical_arm_brake_resistor().
void safety_critical_disarm_brake_resistor() {
    uint32_t mask = cpu_enter_critical();
    brake_resistor_armed = false;
    htim2.Instance->CCR3 = 0;
    htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
    for (size_t i = 0; i < AXIS_COUNT; ++i) {
        safety_critical_disarm_motor_pwm(axes[i].motor_);
    }
    cpu_exit_critical(mask);
}

// @brief Updates the brake resistor PWM timings unless
// the brake resistor is disarmed.
void safety_critical_apply_brake_resistor_timings(uint32_t low_off, uint32_t high_on) {
    if (high_on - low_off < TIM_APB1_DEADTIME_CLOCKS)
        low_level_fault(Motor::ERROR_BRAKE_DEADTIME_VIOLATION);
    uint32_t mask = cpu_enter_critical();
    if (brake_resistor_armed) {
        // Safe update of low and high side timings
        // To avoid race condition, first reset timings to safe state
        // ch3 is low side, ch4 is high side
        htim2.Instance->CCR3 = 0;
        htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
        htim2.Instance->CCR3 = low_off;
        htim2.Instance->CCR4 = high_on;
    }
    cpu_exit_critical(mask);
}

/* Function implementations --------------------------------------------------*/

void start_adc_pwm() {
    // Disarm motors
    for (size_t i = 0; i < AXIS_COUNT; ++i) {
        safety_critical_disarm_motor_pwm(axes[i].motor_);
    }

    for (Motor& motor: motors) {
        // Init PWM
        int half_load = TIM_1_8_PERIOD_CLOCKS / 2;
        motor.timer_->Instance->CCR1 = half_load;
        motor.timer_->Instance->CCR2 = half_load;
        motor.timer_->Instance->CCR3 = half_load;

        // Enable PWM outputs (they are still masked by MOE though)
        motor.timer_->Instance->CCER |= (TIM_CCx_ENABLE << TIM_CHANNEL_1);
        motor.timer_->Instance->CCER |= (TIM_CCxN_ENABLE << TIM_CHANNEL_1);
        motor.timer_->Instance->CCER |= (TIM_CCx_ENABLE << TIM_CHANNEL_2);
        motor.timer_->Instance->CCER |= (TIM_CCxN_ENABLE << TIM_CHANNEL_2);
        motor.timer_->Instance->CCER |= (TIM_CCx_ENABLE << TIM_CHANNEL_3);
        motor.timer_->Instance->CCER |= (TIM_CCxN_ENABLE << TIM_CHANNEL_3);
    }

    // Enable ADC and interrupts
    __HAL_ADC_ENABLE(&hadc1);
    __HAL_ADC_ENABLE(&hadc2);
    __HAL_ADC_ENABLE(&hadc3);
    // Warp field stabilize.
    osDelay(2);
    __HAL_ADC_CLEAR_FLAG(&hadc1, ADC_FLAG_JEOC);
    __HAL_ADC_CLEAR_FLAG(&hadc2, ADC_FLAG_JEOC);
    __HAL_ADC_CLEAR_FLAG(&hadc3, ADC_FLAG_JEOC);
    __HAL_ADC_CLEAR_FLAG(&hadc2, ADC_FLAG_EOC);
    __HAL_ADC_CLEAR_FLAG(&hadc3, ADC_FLAG_EOC);
    __HAL_ADC_CLEAR_FLAG(&hadc1, ADC_FLAG_OVR);
    __HAL_ADC_CLEAR_FLAG(&hadc2, ADC_FLAG_OVR);
    __HAL_ADC_CLEAR_FLAG(&hadc3, ADC_FLAG_OVR);
    __HAL_ADC_ENABLE_IT(&hadc1, ADC_IT_JEOC);
    __HAL_ADC_ENABLE_IT(&hadc2, ADC_IT_JEOC);
    __HAL_ADC_ENABLE_IT(&hadc3, ADC_IT_JEOC);
    __HAL_ADC_ENABLE_IT(&hadc2, ADC_IT_EOC);
    __HAL_ADC_ENABLE_IT(&hadc3, ADC_IT_EOC);


    for (Motor& motor: motors) {
        // Enable the update interrupt (used to coherently sample GPIO)
        __HAL_TIM_CLEAR_IT(motor.timer_, TIM_IT_UPDATE);
        __HAL_TIM_ENABLE_IT(motor.timer_, TIM_IT_UPDATE);
    }


    // Start brake resistor PWM in floating output configuration
    htim2.Instance->CCR3 = 0;
    htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);

    safety_critical_arm_brake_resistor();
}

// @brief ADC1 measurements are written to this buffer by DMA
uint16_t adc_measurements_[ADC_CHANNEL_COUNT] = { 0 };

// @brief Starts the general purpose ADC on the ADC1 peripheral.
// The measured ADC voltages can be read with get_adc_voltage().
//
// ADC1 is set up to continuously sample all channels 0 to 15 in a
// round-robin fashion.
// DMA is used to copy the measured 12-bit values to adc_measurements_.
//
// The injected (high priority) channel of ADC1 is used to sample vbus_voltage.
// This conversion is triggered by TIM1 at the frequency of the motor control loop.
void start_general_purpose_adc() {
    ADC_ChannelConfTypeDef sConfig;

    // Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
    hadc1.Instance = ADC1;
    hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
    hadc1.Init.Resolution = ADC_RESOLUTION_12B;
    hadc1.Init.ScanConvMode = ENABLE;
    hadc1.Init.ContinuousConvMode = ENABLE;
    hadc1.Init.DiscontinuousConvMode = DISABLE;
    hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
    hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
    hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
    hadc1.Init.NbrOfConversion = ADC_CHANNEL_COUNT;
    hadc1.Init.DMAContinuousRequests = ENABLE;
    hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
    if (HAL_ADC_Init(&hadc1) != HAL_OK) {
        odrv.misconfigured_ = true; // TODO: this is a bit of an abuse of this flag
        return;
    }

    // Set up sampling sequence (channel 0 ... channel 15)
    sConfig.SamplingTime = ADC_SAMPLETIME_15CYCLES;
    for (uint32_t channel = 0; channel < ADC_CHANNEL_COUNT; ++channel) {
        sConfig.Channel = channel << ADC_CR1_AWDCH_Pos;
        sConfig.Rank = channel + 1; // rank numbering starts at 1
        if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
            odrv.misconfigured_ = true; // TODO: this is a bit of an abuse of this flag
            return;
        }
    }

    HAL_ADC_Start_DMA(&hadc1, reinterpret_cast<uint32_t*>(adc_measurements_), ADC_CHANNEL_COUNT);
}

// @brief Returns the ADC voltage associated with the specified pin.
// This only works if the GPIO was not used for anything else since bootup, otherwise
// it must be put to analog mode first.
// Returns NaN if the pin has no associated ADC1 channel.
//
// On ODrive 3.3 and 3.4 the following pins can be used with this function:
//  GPIO_1, GPIO_2, GPIO_3, GPIO_4 and some pins that are connected to
//  on-board sensors (M0_TEMP, M1_TEMP, AUX_TEMP)
//
// The ADC values are sampled in background at ~30kHz without
// any CPU involvement.
//
// Details: each of the 16 conversion takes (15+26) ADC clock
// cycles and the ADC, so the update rate of the entire sequence is:
//  21000kHz / (15+26) / 16 = 32kHz
// The true frequency is slightly lower because of the injected vbus
// measurements
float get_adc_voltage(Stm32Gpio gpio) {
    const uint16_t channel = channel_from_gpio(gpio);
    return get_adc_voltage_channel(channel);
}

// @brief Given a GPIO_port and pin return the associated adc_channel.
// returns UINT16_MAX if there is no adc_channel;
uint16_t channel_from_gpio(Stm32Gpio gpio) {
    uint32_t channel = UINT32_MAX;
    if (gpio.port_ == GPIOA) {
        if (gpio.pin_mask_ == GPIO_PIN_0)
            channel = 0;
        else if (gpio.pin_mask_ == GPIO_PIN_1)
            channel = 1;
        else if (gpio.pin_mask_ == GPIO_PIN_2)
            channel = 2;
        else if (gpio.pin_mask_ == GPIO_PIN_3)
            channel = 3;
        else if (gpio.pin_mask_ == GPIO_PIN_4)
            channel = 4;
        else if (gpio.pin_mask_ == GPIO_PIN_5)
            channel = 5;
        else if (gpio.pin_mask_ == GPIO_PIN_6)
            channel = 6;
        else if (gpio.pin_mask_ == GPIO_PIN_7)
            channel = 7;
    } else if (gpio.port_ == GPIOB) {
        if (gpio.pin_mask_ == GPIO_PIN_0)
            channel = 8;
        else if (gpio.pin_mask_ == GPIO_PIN_1)
            channel = 9;
    } else if (gpio.port_ == GPIOC) {
        if (gpio.pin_mask_ == GPIO_PIN_0)
            channel = 10;
        else if (gpio.pin_mask_ == GPIO_PIN_1)
            channel = 11;
        else if (gpio.pin_mask_ == GPIO_PIN_2)
            channel = 12;
        else if (gpio.pin_mask_ == GPIO_PIN_3)
            channel = 13;
        else if (gpio.pin_mask_ == GPIO_PIN_4)
            channel = 14;
        else if (gpio.pin_mask_ == GPIO_PIN_5)
            channel = 15;
    }
    return channel;
}

// @brief Given an adc channel return the measured voltage.
// returns NaN if the channel is not valid.
float get_adc_voltage_channel(uint16_t channel)
{
    if (channel < ADC_CHANNEL_COUNT)
        return ((float)adc_measurements_[channel]) * (adc_ref_voltage / adc_full_scale);
    else
        return 0.0f / 0.0f; // NaN
}

//--------------------------------
// IRQ Callbacks
//--------------------------------

void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
    constexpr float voltage_scale = adc_ref_voltage * VBUS_S_DIVIDER_RATIO / adc_full_scale;
    // Only one conversion in sequence, so only rank1
    uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
    vbus_voltage = ADCValue * voltage_scale;
}

// This is the callback from the ADC that we expect after the PWM has triggered an ADC conversion.
// TODO: Document how the phasing is done, link to timing diagram
void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
#define calib_tau 0.2f  //@TOTO make more easily configurable
    constexpr float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;

    // Ensure ADCs are expected ones to simplify the logic below
    if (!(hadc == &hadc2 || hadc == &hadc3)) {
        low_level_fault(Motor::ERROR_ADC_FAILED);
        return;
    };

    // Motor 0 is on Timer 1, which triggers ADC 2 and 3 on an injected conversion
    // Motor 1 is on Timer 8, which triggers ADC 2 and 3 on a regular conversion
    // If the corresponding timer is counting up, we just sampled in SVM vector 0, i.e. real current
    // If we are counting down, we just sampled in SVM vector 7, with zero current
    Axis& axis = injected ? axes[0] : axes[1];
    int axis_num = injected ? 0 : 1;
    Axis& other_axis = injected ? axes[1] : axes[0];
    bool counting_down = axis.motor_.timer_->Instance->CR1 & TIM_CR1_DIR;
    bool current_meas_not_DC_CAL = !counting_down;

    // Check the timing of the sequencing
    if (current_meas_not_DC_CAL)
        axis.motor_.log_timing(TIMING_LOG_ADC_CB_I);
    else
        axis.motor_.log_timing(TIMING_LOG_ADC_CB_DC);

    bool update_timings = false;
    if (hadc == &hadc2) {
        if (&axis == &axes[1] && counting_down)
            update_timings = true; // update timings of M0
        else if (&axis == &axes[0] && !counting_down)
            update_timings = true; // update timings of M1

        // TODO: this is out of place here. However when moving it somewhere
        // else we have to consider the timing requirements to prevent the SPI
        // transfers of axis0 and axis1 from conflicting.
        // Also see comment on sync_timers.
        if((current_meas_not_DC_CAL && !axis_num) ||
                (axis_num && !current_meas_not_DC_CAL)){
            axis.encoder_.abs_spi_start_transaction();
        }
    }

    // Load next timings for the motor that we're not currently sampling
    if (update_timings) {
        if (!other_axis.motor_.next_timings_valid_) {
            // the motor control loop failed to update the timings in time
            // we must assume that it died and therefore float all phases
            bool was_armed = safety_critical_disarm_motor_pwm(other_axis.motor_);
            if (was_armed) {
                other_axis.motor_.error_ |= Motor::ERROR_CONTROL_DEADLINE_MISSED;
            }
        } else {
            other_axis.motor_.next_timings_valid_ = false;
            safety_critical_apply_motor_pwm_timings(
                other_axis.motor_, other_axis.motor_.next_timings_
            );
        }
        update_brake_current();
    }

    uint32_t ADCValue;
    if (injected) {
        ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
    } else {
        ADCValue = HAL_ADC_GetValue(hadc);
    }
    float current = axis.motor_.phase_current_from_adcval(ADCValue);

    if (current_meas_not_DC_CAL) {
        // ADC2 and ADC3 record the phB and phC currents concurrently,
        // and their interrupts should arrive on the same clock cycle.
        // We dispatch the callbacks in order, so ADC2 will always be processed before ADC3.
        // Therefore we store the value from ADC2 and signal the thread that the
        // measurement is ready when we receive the ADC3 measurement

        // return or continue
        if (hadc == &hadc2) {
            axis.motor_.current_meas_.phB = current - axis.motor_.DC_calib_.phB;
            return;
        } else {
            axis.motor_.current_meas_.phC = current - axis.motor_.DC_calib_.phC;
        }
        // Prepare hall readings
        // TODO move this to inside encoder update function
        axis.encoder_.decode_hall_samples();
        // Trigger axis thread
        axis.signal_current_meas();
    } else {
        // DC_CAL measurement
        if (hadc == &hadc2) {
            axis.motor_.DC_calib_.phB += (current - axis.motor_.DC_calib_.phB) * calib_filter_k;
        } else {
            axis.motor_.DC_calib_.phC += (current - axis.motor_.DC_calib_.phC) * calib_filter_k;
        }
    }
}

// @brief Sums up the Ibus contribution of each motor and updates the
// brake resistor PWM accordingly.
void update_brake_current() {
    float Ibus_sum = 0.0f;
    for (size_t i = 0; i < AXIS_COUNT; ++i) {
        if (axes[i].motor_.armed_state_ == Motor::ARMED_STATE_ARMED) {
            Ibus_sum += axes[i].motor_.current_control_.Ibus;
        }
    }
    
    // Don't start braking until -Ibus > regen_current_allowed
    float brake_current = -Ibus_sum - odrv.config_.max_regen_current;
    float brake_duty = brake_current * odrv.config_.brake_resistance / vbus_voltage;
    
    if (odrv.config_.enable_dc_bus_overvoltage_ramp && (odrv.config_.brake_resistance > 0.0f) && (odrv.config_.dc_bus_overvoltage_ramp_start < odrv.config_.dc_bus_overvoltage_ramp_end)) {
        brake_duty += std::fmax((vbus_voltage - odrv.config_.dc_bus_overvoltage_ramp_start) / (odrv.config_.dc_bus_overvoltage_ramp_end - odrv.config_.dc_bus_overvoltage_ramp_start), 0.0f);
    }

    if (std::isnan(brake_duty)) {
        // Shuts off all motors AND brake resistor, sets error code on all motors.
        low_level_fault(Motor::ERROR_BRAKE_DUTY_CYCLE_NAN);
        return;
    }

    if (brake_duty >= 0.95f) {
        brake_resistor_saturated = true;
    }

    // Duty limit at 95% to allow bootstrap caps to charge
    brake_duty = std::clamp(brake_duty, 0.0f, 0.95f);

    // Special handling to avoid the case 0.0/0.0 == NaN.
    Ibus_sum += brake_duty ? (brake_duty * vbus_voltage / odrv.config_.brake_resistance) : 0.0f;

    ibus_ += odrv.ibus_report_filter_k_ * (Ibus_sum - ibus_);

    if (Ibus_sum > odrv.config_.dc_max_positive_current) {
        low_level_fault(Motor::ERROR_DC_BUS_OVER_CURRENT);
        return;
    }
    if (Ibus_sum < odrv.config_.dc_max_negative_current) {
        low_level_fault(Motor::ERROR_DC_BUS_OVER_REGEN_CURRENT);
        return;
    }
    
    int high_on = (int)(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
    int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;
    if (low_off < 0) low_off = 0;
    safety_critical_apply_brake_resistor_timings(low_off, high_on);
}


/* Analog speed control input */

static void update_analog_endpoint(const struct PWMMapping_t *map, int gpio)
{
    float fraction = get_adc_voltage(get_gpio(gpio)) / 3.3f;
    float value = map->min + (fraction * (map->max - map->min));
    fibre::set_endpoint_from_float(map->endpoint, value);
}

static void analog_polling_thread(void *)
{
    while (true) {
        for (int i = 0; i < GPIO_COUNT; i++) {
            struct PWMMapping_t *map = &odrv.config_.analog_mappings[i];

            if (fibre::is_endpoint_ref_valid(map->endpoint))
                update_analog_endpoint(map, i);
        }
        osDelay(10);
    }
}

void start_analog_thread() {
    osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 512 / sizeof(StackType_t));
    osThreadCreate(osThread(thread_def), NULL);
}