powertrain.h

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#ifndef POWERTRAIN_H
#define POWERTRAIN_H
 
#include <stdint.h>
#include "common/amk/amk.h"
 
typedef struct {
    int16_t front_right;
    int16_t front_left;
    int16_t rear_left;
    int16_t rear_right;
} torque_request_t;
 
typedef struct {
    AMK_t front_right; // INVA
    AMK_t front_left;  // INVB
    AMK_t rear_left;   // INVC
    AMK_t rear_right;  // INVD
    torque_request_t torque_request;
} powertrain_t;
 
extern powertrain_t g_powertrain;
 
static constexpr uint32_t POWERTRAIN_PERIOD_MS = 15;
 
void powertrain_init(void);
void powertrain_periodic(void);
void powertrain_set_torque_request(torque_request_t request);
bool is_powertrain_ready(void);
 
#endif // POWERTRAIN_H