bangbang.h

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#ifndef BANGBANG_H
#define BANGBANG_H
 
#include <stdint.h>
 
typedef struct {
    float upper_bound; // the value above which the controller should turn on
    float lower_bound; // the value below which the controller should turn off
 
    void (*on_func)(void); // function to call when the controller turns on (can be nullptr)
    void (*off_func)(void); // function to call when the controller turns off (can be nullptr)
 
    uint32_t min_switch_interval; // minimum time between state changes to prevent chattering
    uint32_t last_switch_ms; // timestamp of the last state change
 
    bool is_on; // current state of the controller (true for on, false for off)
} bangbang_t;
 
#define INIT_BANG_BANG(name, upper, lower, on_callback, off_callback, min_interval) \
    bangbang_t name = { \
        .upper_bound = upper, \
        .lower_bound = lower, \
        .on_func = on_callback, \
        .off_func = off_callback, \
        .min_switch_interval = min_interval, \
        .last_switch_ms = 0, \
        .is_on = false \
    }; \
    static_assert(upper > lower, "Upper bound must be greater than lower bound for bang-bang controller");
 
void bangbang_update(bangbang_t *controller, float value, uint32_t current_time);
 
#endif // BANGBANG_H