vehicle_fsm.h

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#ifndef VEHICLE_FSM_H
#define VEHICLE_FSM_H
 
#include "amk.h"
#include "can_library/generated/can_types.h"
 
typedef struct {
    car_state_t current_state;
    car_state_t next_state;
    AMK_t front_right; // INVA
    AMK_t front_left;  // INVB
    AMK_t rear_left;   // INVC
    AMK_t rear_right;  // INVD
 
    // internal state variables
    uint32_t buzzer_start_time;
    bool last_start_button_state;
    bool brake_light;
    bool tsal_green_enable;
    bool tsal_red_enable;
    bool buzzer_enable;
 
    bool is_precharge_complete; // AMKs are pointed to this variable
} car_t;
 
typedef struct {
    int16_t front_right;
    int16_t front_left;
    int16_t rear_left;
    int16_t rear_right;
} torque_request_t;
 
extern car_t g_car;
extern torque_request_t g_torque_request;
 
static constexpr uint32_t VEHICLE_FSM_PERIOD_MS = 15;
 
// static assert that the FSM flushes the CAN messages it owns at least as fast as their defined periods
static_assert(VEHICLE_FSM_PERIOD_MS == INVA_SET_PERIOD_MS);
static_assert(VEHICLE_FSM_PERIOD_MS == INVB_SET_PERIOD_MS);
static_assert(VEHICLE_FSM_PERIOD_MS == INVC_SET_PERIOD_MS);
static_assert(VEHICLE_FSM_PERIOD_MS == INVD_SET_PERIOD_MS);
 
void vehicle_fsm_periodic(void);
 
#endif // VEHICLE_FSM_H