motor_can.h

#pragma once
 
/************************************************************************************************
 * @file   motor_can.h
 *
 * @brief  Header file for motor can
 *
 * @date   2025-11-25
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdint.h>
 
/* Inter-component Headers */
#include "can.h"
#include "status.h"
 
/* Intra-component Headers */
#include "front_controller.h"
#include "ws22_motor_can.h"
 
#define VEL_TO_RPM_RATIO 0.57147  // from MSXV
 
StatusCode motor_can_update_target_current_velocity();
 
StatusCode motor_can_init(FrontControllerStorage *storage);
 
StatusCode motor_can_get_current_state(VehicleDriveState *current_state);
 
StatusCode motor_can_transmit_drive_command(void);
 
StatusCode motor_can_process_rx(CanMessage *msg);