constants.h

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#ifndef CONSTANTS_H
#define CONSTANTS_H
 
#include <stdint.h>
#include <stdbool.h>
 
#include "iem_utils.h"
 
 
#define RAD_TO_DEG 57.295779F
#define DEG_TO_RAD 0.0174532925F
 
#define ADC_RAW16_TO_V (3.3F / 65535.0F)
 
#define CAN_TIMEOUT_MS 100
 
// 22 degrees
// TODO: APPS calibration mode
// #define APPS_DEG_TO_PERCENT (100.0F / 22.0F)
 
#define APPS_LEFT_ZERO  -118.0F
#define APPS_RIGHT_ZERO -2.0F
#define APPS_LEFT_DIR   -1.0F
#define APPS_RIGHT_DIR  1.0F
#define APPS_RANGE      22.0F  // deg
 
static inline __attribute__((always_inline)) float apps_right_deg_to_per(float deg) {
    return 100.0F * (((deg - APPS_RIGHT_ZERO) * APPS_RIGHT_DIR) / APPS_RANGE);
}
 
static inline __attribute__((always_inline)) float apps_left_deg_to_per(float deg) {
    return 100.0F * ((deg - APPS_LEFT_ZERO) * APPS_LEFT_DIR) / APPS_RANGE;
}
 
#endif