steering.h

#pragma once
 
/************************************************************************************************
 * @file   steering.h
 *
 * @brief  Header file for steering
 *
 * @date   2025-07-09
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdbool.h>
#include <stdint.h>
 
/* Inter-component Headers */
#include "global_enums.h"
#include "ws22_motor_can.h"
 
/* Intra-component Headers */
#include "status.h"
 
/* Forward declarations */
struct ButtonManager;
struct ButtonLEDManager;
struct Ws22MotorCanConfig;
 
#define STEERING_BUTTON_DEBOUNCE_PERIOD_MS 5U
 
#define STEERING_CRUISE_MAX_SPEED_KMH 1000U  // 80
 
#define STEERING_CRUISE_MIN_SPEED_KMH 0U  // 40
 
typedef enum {
  STEERING_BUTTON_HAZARDS,
  STEERING_BUTTON_DRIVE,
  STEERING_BUTTON_NEUTRAL,
  STEERING_BUTTON_REVERSE,
 
  STEERING_BUTTON_REGEN,
 
  STEERING_BUTTON_LEFT_LIGHT,
  STEERING_BUTTON_RIGHT_LIGHT,
 
  STEERING_BUTTON_HORN,
 
  STEERING_BUTTON_CRUISE_CONTROL_UP,
  STEERING_BUTTON_CRUISE_CONTROL_DOWN,
 
  NUM_STEERING_BUTTONS,
} SteeringButtons;
 
typedef struct {
  uint16_t cruise_min_speed_kmh; 
  uint16_t cruise_max_speed_kmh; 
} SteeringConfig;
 
typedef struct {
  uint8_t pedal_percentage; 
  uint8_t brake_percentage;
 
  // int16_t motor_heatsink_temp; /**< Temperature of the motor heatsink */
  // int16_t motor_temp;          /**< Temperature of the motor */
 
  int16_t vehicle_velocity; 
  // int16_t motor_velocity;   /**< Angular velocity of the motor in ??? */
 
  uint16_t bps_fault;     
  uint8_t bps_fault_cell; 
  // uint16_t ws22_flags;    /**< Error and limit flags from the WS22 */
  float state_of_charge; 
  int16_t dcdc_voltage; 
  int16_t dcdc_current; 
  int16_t aux_voltage;  
  int16_t aux_current;  
  uint16_t pack_voltage;      
  uint16_t cell_voltages[36]; 
  // uint16_t motor_bus_voltage;   /**< Motor bus voltage reading (V) */
  uint16_t pack_current;        
  uint16_t min_cell_voltage_mv; 
  uint16_t max_cell_voltage_mv; 
  uint16_t max_cell_temp;       
  VehicleDriveState drive_state;
  uint8_t brake_enabled;
  uint8_t regen_enabled;
  uint8_t precharge_complete;
} DisplayData;
 
typedef struct {
  bool horn_enabled;           
  bool cruise_control_enabled; 
  uint16_t cruise_control_target_speed_kmh; 
  uint8_t drive_state;                      
  uint8_t light_signal;                     
  struct ButtonManager *button_manager;               
  struct ButtonLEDManager *button_led_manager;        
  struct Ws22MotorCanStorage *ws22_motor_can_storage; 
  DisplayData display_data;                           
  float estimated_km_remaining; 
  SteeringConfig *config;                    
  Ws22MotorCanConfig *ws22_motor_can_config; 
} SteeringStorage;
 
StatusCode steering_init(SteeringStorage *storage, SteeringConfig *config, Ws22MotorCanConfig *motor_can_config);