amk.h

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#ifndef AMK_H
#define AMK_H
 
#include "common/can_library/generated/MCAN.h"
#include <stdint.h>
 
typedef enum : uint8_t {
    AMK_STATE_OFF        = 0,
    AMK_STATE_STARTING   = 1,
    AMK_STATE_RUNNING    = 2,
    AMK_STATE_RECOVERING = 3,
    AMK_STATE_FATAL      = 4
} AMK_motor_state_t;
 
typedef struct {
    // Flush functions
    // ! must not be an inline function
    void (*set_function)(void);
 
    // Direct pointers to CAN library data structures
    // ! cast all motor objects to INVA
    INVA_SET_data_t   *set;
    INVA_CRIT_data_t  *crit;
    INVA_INFO_data_t  *info;
    INVA_TEMPS_data_t *temps;
    INVA_ERR_1_data_t *err1;
    INVA_ERR_2_data_t *err2;
 
    // Internal state
    AMK_motor_state_t state;
    AMK_motor_state_t next_state;
    bool *precharge_ptr; // owned pointer to precharge status from car module
} AMK_t;
 
void AMK_init(
    AMK_t *amk,
    void (*set_func)(void),
    INVA_SET_data_t *set,
    INVA_CRIT_data_t *crit,
    INVA_INFO_data_t *info,
    INVA_TEMPS_data_t *temps,
    INVA_ERR_1_data_t *err1,
    INVA_ERR_2_data_t *err2,
    bool *precharge_ptr
);
 
void AMK_reset(AMK_t* amk);
void AMK_set_torque(AMK_t* amk, int16_t torque_percent);
void AMK_periodic(AMK_t* amk);
 
#endif // AMK_H