* @brief Set LED flash mode * * This function sets the LED flash pattern mode. * * @param mode LED flash mode (LED_CONST, LED_FLASH_ALL, etc.)

* @brief Set motor speed and direction * * This function sets the speed and direction of a motor using PWM control. * It handles speed mapping fro

* @brief Set indicator LED color * * This function sets the color of the indicator LED (LED 4) in a thread-safe manner. * * @param color Color v

* @brief Configure PWM channel for motor control * * This function configures a LEDC (LED Controller) channel for PWM-based motor control. * Each

* @brief Start BLE advertising * * This function configures and starts BLE advertising for the Racer3 device. * It sets up advertisement fields in

* @brief Write data from BLE message buffer to destination buffer * * This helper function extracts data from a BLE message buffer and writes it *

* @brief Read RGB color data from TCS3400 sensor and store in ring buffer * * This function reads normalized RGB color values from the TCS3400 colo

* @brief Classify RGB color values into predefined color categories * * This function analyzes normalized RGB values and classifies them into one o

* @brief Set LED flash period * * This function sets the flash period for LED patterns. * * @param period Flash period in FreeRTOS ticks */

* @brief Set headlight LED color * * This function sets the color of the headlight LEDs (front LEDs) in a thread-safe manner. * * @param color C

* @brief ReLU activation function * * Rectified Linear Unit activation function: returns the input if positive, 0 otherwise. * * @param x Input

* @brief Check if the ring buffer is empty * * @param rb Pointer to the ring buffer structure * @return true if buffer is empty, false otherwise

* @brief Write LED data to WS2812 strip * * This function takes a structure containing LED color data and transmits it * to the WS2812 LED strip u

* @brief Initialize the TCS3400 color sensor * * This function initializes the TCS3400 color sensor by: * 1. Setting up I2C communication * 2. Po

* @brief Read color data from TCS3400 sensor * * This function reads raw color data from the TCS3400 sensor and returns * normalized RGB values wi

* @brief Advance the head pointer of the ring buffer * * This internal function advances the head pointer and manages the full state. * When the b

* @brief Initialize the battery monitoring system * * This function initializes the ADC for battery voltage measurement, * configures the ADC chan

* @brief Read battery voltage * * This function reads the raw ADC value from the battery voltage measurement. * Currently returns raw ADC counts r

* @brief Set game status based on detected color * * This function processes color detection results and sets the appropriate game state. * Differ

* @brief Configure GPIO interrupt for color sensor trigger * * This function sets up the GPIO interrupt system for triggering color sensor * readi

* @brief Initialize the motor controller system * * This function initializes all components of the motor controller system including: * - Command

* @brief Forward pass through the neural network * * Performs a forward pass through the multi-layer neural network, computing * the output probab

* @brief Initialize the GATT server * * This function initializes the GATT server with all defined services and characteristics. * It sets up the

* @brief Get RGB color from hue value * * This function converts a 16-bit hue value to a 24-bit RGB color value * in GRB format suitable for WS281

* @brief Get human-readable color name from color class * * This function returns a string representation of the color class for * debugging and l

* @brief Get the GPIO event queue handle * * This function returns the handle to the GPIO event queue, allowing other * tasks to receive GPIO inte

* @brief Convert hue to RGB values * * This helper function converts a hue value (0.0 to 1.0) to RGB values using * the HSL color space model. It

* @brief Initialize I2C master for TCS3400 communication * * This function configures and installs the I2C master driver for communication * with

* @brief Initialize I2C master for OPT4060 communication * * This function configures and installs the I2C master driver for communication * with

* @brief Initialize the LED control system * * This function initializes the WS2812 LED driver, creates the LED mutex * for thread-safe operations

* @brief Calculate and retrieve average RGB values from the ring buffer * * This function calculates the average of all RGB values currently stored

* @brief Initialize a ring buffer structure * * This function initializes a ring buffer by setting the head and tail pointers * to 0 and marking t

* @brief Add RGB color data to the ring buffer * * This function stores RGB color values at the current head position * and advances the head poin

* @brief Set motor command with game state modifications * * This function processes motor commands and applies game state modifications. * It als

* @brief Softmax activation function * * Applies the softmax function to convert raw outputs into probability distributions. * This ensures all ou

* @brief Update OTA control state and send notifications * * This function processes OTA control commands and sends appropriate * acknowledgements

* @brief Initialize WS2812 LED control system * * This function initializes the RMT (Remote Control) peripheral for controlling * WS2812 LED strip

* @brief Main application entry point * * Initializes all subsystems including: * - LEDC timer for motor PWM control * - LED control system * -

* @brief Deinitialize the battery monitoring system * * This function cleans up ADC resources and calibration handles. */

* @brief Callback function for game state timer expiration * * This function is called when the game state timer expires, indicating * that the cu

* @brief Callback function for motor command timer expiration * * This function is called when the motor command timer expires, indicating * that

* @brief Controller task for processing motor commands * * This task waits for notifications from the motor command system and processes * motor c

* @brief GAP event handler for BLE connection events * * This function handles various BLE GAP events including connection establishment, * discon

* @brief Handle access to device information characteristics * * This function handles read requests for device information characteristics * incl

* @brief Handle color data characteristic access (LED control commands) * * This function processes LED color commands received via BLE. * The dat

* @brief Handle OTA control characteristic access * * This function handles read and write operations on the OTA control characteristic. * It mana

* @brief Handle OTA data characteristic access (motor control commands) * * This function processes motor control commands received via BLE. * The

* @brief Get color interpolated between blue and red * * This function creates a color that interpolates between blue and red based on * the input

* @brief Get next color in full spectrum cycle * * This function returns the next color in a continuous spectrum cycle. * Each call advances the h

* @brief Get pulsing color effect * * This function creates a pulsing effect by modulating the brightness of a given * color using a sine wave. Th

* @brief GPIO interrupt task for handling color sensor triggers * * This task processes GPIO interrupts from the color sensor and performs * color

* @brief GPIO interrupt service routine * * This ISR handles GPIO interrupts with debouncing to prevent spurious * triggers. It only processes fal

* @brief BLE host task for NimBLE stack * * This function runs the NimBLE host stack in a FreeRTOS task. It handles * all BLE operations and retur

* @brief Initialize I2C master peripheral * * This function initializes the I2C master peripheral with the configured * parameters including GPIO

* @brief Initialize neural network with pre-trained weights * * This function initializes the neural network structure with pre-trained weights *

* @brief Turn on back LEDs (constant mode) * * This function sets the LED mode to constant lighting. */

* @brief Turn off front LEDs * * This function sets the LED mode to off (not implemented - would need LED_COLOR_OFF mode). */

* @brief Turn on front LEDs (constant mode) * * This function sets the LED mode to constant lighting. */

* @brief Set individual LED color * * This function sets the color of a specific LED by index. * * @param led_index LED index (0-4) * @param co

* @brief Set taillight LED color * * This function sets the color of the taillight LEDs (rear LEDs) in a thread-safe manner. * * @param color Co

* @brief LED control task * * This task manages LED patterns and updates the WS2812 LEDs based on the current * flash mode and color settings. It

* @brief Motor control task * * This task processes motor control commands from the motor queues. * It runs continuously, checking both motor queu

* @brief Initialize the OPT4060 color sensor * * This function initializes the OPT4060 color sensor by: * 1. Setting up I2C communication * 2. Co

* @brief Read color data from OPT4060 sensor * * This function reads raw color data from the OPT4060 sensor and converts * it to 24-bit color valu

* @brief Convert RGB color values to hue value * * This function converts RGB color values from the OPT4060 color sensor to a hue value * in the r

* @brief Predict color using neural network * * This function uses the neural network to predict the color class from RGB values. * It normalizes

* @brief Process and classify color values with LED feedback * * This function classifies the input RGB values and provides visual feedback * thro

* @brief BLE reset callback function * * This function is called when the BLE stack is reset. It logs the reset reason * for debugging purposes.

* @brief Retrieve RGB color data from the ring buffer * * This function retrieves the oldest RGB color values from the buffer * and advances the t

* @brief Set the hue increment for color cycling * * This function sets the step size for hue advancement in the full spectrum cycle. * Larger val

* @brief Soft start motor with gradual speed changes * * This function provides smooth motor control by gradually changing speed * and handling di

* @brief BLE synchronization callback function * * This function is called when the BLE stack is synchronized and ready to use. * It determines th

* @brief RMT encoder wrapper function * * This function wraps the bytes encoder for RMT transmission. * It's used internally by the RMT driver to