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ca13734bf0
Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
58 lines
1.6 KiB
C
58 lines
1.6 KiB
C
/**
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* @file brake_control.h
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* @brief Brake control module interface
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*/
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#ifndef BRAKE_CONTROL_H
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#define BRAKE_CONTROL_H
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#include "kernel.h"
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/* Brake Control Parameters */
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#define BRAKE_CONTROL_PERIOD_MS 5
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#define ABS_CONTROL_PERIOD_MS 1
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#define WHEEL_SPEED_SENSOR_COUNT 4
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#define MAX_BRAKE_PRESSURE 20000 /* kPa */
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#define ABS_SLIP_THRESHOLD 0.2f
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#define ABS_DECELERATION_THRESHOLD -10.0f /* m/s² */
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/* Brake States */
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typedef enum {
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BRAKE_STATE_IDLE = 0,
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BRAKE_STATE_NORMAL_BRAKING = 1,
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BRAKE_STATE_ABS_ACTIVE = 2,
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BRAKE_STATE_EMERGENCY = 3,
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BRAKE_STATE_FAULT = 4
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} BrakeState_t;
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/* Wheel Speed Data */
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typedef struct {
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float wheel_speed[WHEEL_SPEED_SENSOR_COUNT]; /* km/h */
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float wheel_acceleration[WHEEL_SPEED_SENSOR_COUNT]; /* m/s² */
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uint16_t wheel_sensor_raw[WHEEL_SPEED_SENSOR_COUNT];
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bool sensor_fault[WHEEL_SPEED_SENSOR_COUNT];
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} WheelSpeedData_t;
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/* Brake System Data */
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typedef struct {
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uint16_t brake_pedal_position;
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uint16_t brake_pressure;
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float vehicle_speed;
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float vehicle_deceleration;
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bool abs_active;
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bool brake_light;
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uint8_t abs_fault_code;
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} BrakeSystemData_t;
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/* Brake Control Functions */
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KernelStatus_t brake_control_init(void);
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KernelStatus_t brake_control_start(void);
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KernelStatus_t brake_control_stop(void);
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KernelStatus_t brake_control_get_data(BrakeSystemData_t* data);
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KernelStatus_t brake_control_get_wheel_data(WheelSpeedData_t* data);
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BrakeState_t brake_control_get_state(void);
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void brake_control_task(void* parameters);
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void abs_control_task(void* parameters);
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#endif /* BRAKE_CONTROL_H */
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