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 "persist.h"
#include "status.h"
#include "ws22_motor_can.h"
 
/* Intra-component Headers */
 
/* Forward declarations */
struct PowerSenseStorage;
struct AccelPedalStorage;
struct Ws22MotorCanStorage;
struct Ws22MotorCanConfig;
 
#define FRONT_CONTROLLER_ACCEL_INPUT_DEADZONE 0.05f
 
#define FRONT_CONTROLLER_ACCEL_REMAP_MIN 0.10f
 
#define FRONT_CONTROLLER_ACCEL_CURVE_EXPONENT 2.0f
 
#define FRONT_CONTROLLER_ACCEL_LPF_ALPHA 0.20f
 
#define FRONT_CONTROLLER_ACCEL_CC_OVERRIDE_DEADZONE 0.10f
 
#define FRONT_CONTROLLER_BRAKE_LPF_ALPHA 0.20f
 
#define FRONT_CONTROLLER_BRAKE_INPUT_DEADZONE 0.15f
 
#define WS22_CONTROLLER_MAX_VELOCITY 12000
 
#define MAX_VEHICLE_SPEED_KPH 50
 
#define FRONT_CONTROLLER_ACCEL_PEDAL_UPPER_VALUE_AMPLIFIED_DEFAULT 1120
#define FRONT_CONTROLLER_ACCEL_PEDAL_LOWER_VALUE_AMPLIFIED_DEFAULT 286
 
#define FRONT_CONTROLLER_ACCEL_PEDAL_OPAMP_THRESHOLD_DEFAULT 535
#define FRONT_CONTROLLER_ACCEL_PEDAL_REVERSED_DEFAULT true
 
#define FRONT_CONTROLLER_BRAKE_PEDAL_UPPER_VALUE_DEFAULT 1230
#define FRONT_CONTROLLER_BRAKE_PEDAL_LOWER_VALUE_DEFAULT 960
 
typedef struct {
  float accel_input_deadzone;        
  float accel_input_remap_min;       
  float accel_input_curve_exponent;  
  float accel_low_pass_filter_alpha; 
  float accel_cc_override_deadzone;  
  float brake_pedal_deadzone;        
  float brake_pedal_activation_zone; 
  float brake_low_pass_filter_alpha; 
} FrontControllerConfig;
 
typedef enum {
  BRAKE_STATE_DISABLED = 0,
  BRAKE_STATE_BRAKING,
} BrakeState;
 
typedef struct {
  BrakeState brake_state; 
  uint32_t vehicle_speed_kph; 
  float brake_percentage;
  float accel_percentage;                
  VehicleDriveState current_drive_state; 
  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;             
  Ws22MotorCanConfig *ws22_motor_can_config; 
  PersistStorage *persist_storage;
  PedalPersistData *pedal_persist_data;
} FrontControllerStorage;
 
StatusCode front_controller_init(FrontControllerStorage *storage, FrontControllerConfig *config, Ws22MotorCanConfig *motor_can_config);