opd.h

#pragma once
 
/************************************************************************************************
 * @file   opd.h
 *
 * @brief  Header file for one pedal drive manager
 *
 * @date   2025-09-14
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdint.h>
 
/* Inter-component Headers */
#include "status.h"
 
/* Intra-component Headers */
#include "front_controller.h"
 
typedef struct {
  uint16_t lower_value; 
  uint16_t upper_value; 
} OpdCalibrationStorage;
 
typedef enum { ACCEL_STATE_DRIVING, ACCEL_STATE_BRAKING } AccelState;
 
typedef struct OpdStorage {
  float accel_percentage;
  float prev_accel_percentage;
  AccelState accel_state;
  float max_braking_percentage;
  uint32_t max_vehicle_speed_kph;
 
  OpdCalibrationStorage calibration_data;
} OpdStorage;
 
typedef enum { PTS_TYPE_LINEAR, PTS_TYPE_EXPONENTIAL, PTS_TYPE_QUADRATIC } PtsRelationType;
 
typedef enum { CURVE_TYPE_LINEAR, CURVE_TYPE_EXPONENTIAL, CURVE_TYPE_QUADRATIC } curveType;
 
StatusCode opd_run();
 
StatusCode opd_init(FrontControllerStorage *storage);
 
StatusCode opd_calculate_handler(float pedal_percentage, PtsRelationType relation_type, float *calculated_reading, curveType curve_type);
 
StatusCode opd_linear_calculate(float pedal_percentage, PtsRelationType relation_type, float *calculated_reading);
 
StatusCode opd_quadratic_calculate(float pedal_percentage, PtsRelationType relation_type, float *calculated_reading);