front_controller.h

#pragma once
 
/************************************************************************************************
 * @file   front_controller.h
 *
 * @brief  Header file for front_controller
 *
 * @date   2025-07-19
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdbool.h>
#include <stdint.h>
 
/* Inter-component Headers */
#include "global_enums.h"
#include "status.h"
 
/* Intra-component Headers */
 
/* Forward declarations */
struct PowerSenseStorage;
struct AccelPedalStorage;
struct Ws22MotorCanStorage;
 
#define FRONT_CONTROLLER_ACCEL_INPUT_DEADZONE 0.02f
 
#define FRONT_CONTROLLER_ACCEL_REMAP_MIN 0.10f
 
#define FRONT_CONTROLLER_ACCEL_CURVE_EXPONENT 2.0f
 
#define FRONT_CONTROLLER_ACCEL_LPF_ALPHA 0.25f
 
#define WS22_CONTROLLER_MAX_VELOCITY 12000
 
#define MAX_VEHICLE_SPEED_KPH 50
 
typedef struct {
  float accel_input_deadzone;        
  float accel_input_remap_min;       
  float accel_input_curve_exponent;  
  float accel_low_pass_filter_alpha; 
  float brake_pedal_deadzone;        
  float brake_low_pass_filter_alpha; 
} FrontControllerConfig;
 
typedef struct {
  bool brake_enabled; 
  uint32_t vehicle_speed_kph; 
  float accel_percentage;              
  VehicleDriveState currentDriveState; 
  struct PowerManagerStorage *power_manager_storage;  
  struct AccelPedalStorage *accel_pedal_storage;      
  struct BrakePedalStorage *brake_pedal_storage;      
  struct Ws22MotorCanStorage *ws22_motor_can_storage; 
  struct OpdStorage *opd_storage;                     
  FrontControllerConfig *config; 
} FrontControllerStorage;
 
StatusCode front_controller_init(FrontControllerStorage *storage, FrontControllerConfig *config);