#ifndef CAR0107_CONTROL_H__
#define CAR0107_CONTROL_H__

void car0107_control_change(int *buf);
void car0107_middle_pwm(void);
void car0107_control_steering_change_process(int *buf);
void car0107_steering_smooth_all(void);

void car0107_notify_control_activity(void);
long long car0107_last_control_ms(void);
int car0107_esc_is_active(void);
void car0107_steering_set_angle_sync(int angle);
void car0107_esc_thread_start(void);
void car0107_esc_thread_wake(void);
void car0107_esc_thread_close(void);

/* idle 唤醒动作：低速后退 -> 低速前进 -> 前进刹车停止 */
void car0107_idle_wakeup_maneuver(void);

#endif
