amk.h

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#ifndef AMK_H
#define AMK_H
 
#include "can_library/generated/MCAN.h"
#include <stdint.h>
 
typedef struct {
    void (*set_function)(void);
    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;
} AMK_config_t;
 
typedef struct {
    void (*set_function)(void);
 
    // Outbound command data
    INVA_SET_data_t set;
 
    // Direct pointers to received CAN library data structures
    // ! cast all motor objects to INVA
    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_state_t state;
    AMK_state_t next_state;
} AMK_t;
 
void AMK_init(AMK_t *amk, const AMK_config_t *config);
 
void AMK_reset(AMK_t* amk);
void AMK_set_torque(AMK_t* amk, int16_t torque_percent);
void AMK_periodic(AMK_t* amk, bool is_precharge_complete);
 
#endif // AMK_H