witness_controller.h

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// SPDX-License-Identifier: AGPL-3.0-or-later
// Commercial license available
// © Concepts 1996–2026 Miroslav Šotek. All rights reserved.
// © Code 2020–2026 Miroslav Šotek. All rights reserved.
// ORCID: 0009-0009-3560-0851
// Contact: www.anulum.li | protoscience@anulum.li
// Loop Timing Witness — controllers/c/witness_controller.h

 
#ifndef WITNESS_CONTROLLER_H
#define WITNESS_CONTROLLER_H
 
#include <stdbool.h>
#include <stdint.h>

typedef struct {
    int32_t kp, ki_period, derivative_decay, derivative_gain;
    int32_t position_gain, velocity_gain, reference_gain;
    int32_t output_min, output_max, integral_min, integral_max;
} witness_coefficients;

typedef struct {
    int32_t integral, derivative, previous_position;
    bool initialized;
} witness_pid_state;

typedef struct {
    uint32_t cycle;
    int32_t command, integral, derivative;
    bool clipped, integral_held;
} witness_command;

bool witness_coefficients_valid(const witness_coefficients *coefficients);

void witness_pid_reset(witness_pid_state *state);

bool witness_pid_step(const witness_coefficients *coefficients, witness_pid_state *state,
                      uint32_t cycle, int32_t reference, int32_t position,
                      witness_command *command);

bool witness_lqr_step(const witness_coefficients *coefficients, uint32_t cycle, int32_t reference,
                      int32_t position, int32_t velocity, witness_command *command);

 
#endif