load.h

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/*!****************************************************************************
 *  @file       load.h
 *  @brief      load Module
 *
 * 
 *  @anchor load_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/


#ifndef ALGOLIB_LOAD_INCLUDE_LOAD_H_
#define ALGOLIB_LOAD_INCLUDE_LOAD_H_

#include "brake.h"
#include "stdint.h"
#include "softStop.h"
#include "measure.h"
#include "triState.h"

typedef union
{
    struct loadFlags
    {
        _Bool
            loadStartReadyStatus: 1,
            loadStopReadyStatus: 1;
    }
    b;
    uint16_t w;

}LOAD_FLAGS_T;

typedef enum
{
    LOAD_INIT = 0,
    LOAD_TRISTATE = 1,
    LOAD_BRAKE = 2,
    LOAD_START = 3,
    LOAD_RUN = 4,
    LOAD_STOP_INIT = 5,
    LOAD_SOFT_STOP = 6,
    LOAD_STOP = 7,
    LOAD_FAULT = 8,
    LOAD_ALIGN_STOP = 9,

}LOAD_STATE_TYPES;

typedef enum
{
    LOAD_NO_FAULT = 0,

}LOAD_FAULT_TYPES;

typedef struct
{
    const int32_t
        *pPWMPeriod,
        *pPropagationDelay;

    const HAL_MEASURE_VOLTAGE_T
        *pVoltage;

    const ADC_SAMPLING_RATIO_TYPES
        *pADCSamplingRatio;

    LOAD_STATE_TYPES
        state;

    HAL_MEASURE_MOTOR_INPUTS_T
        *pMotorInputs;

    LOAD_FAULT_TYPES
        faultStatus;

    TRISTATE_T
        triState;

    BRAKE_T
        brake;

    SOFT_STOP_T
        softStop;

    LOAD_FLAGS_T
        flags;

}LOAD_T;

void loadInit(LOAD_T *pLoad);
void loadRun(LOAD_T *pLoad);
void loadLowPriorityRun(LOAD_T *pLoad);

inline _Bool getLoadStartReadyStatus(LOAD_T *pLoad)
{
    return pLoad->flags.b.loadStartReadyStatus;
}
inline _Bool getLoadStopReadyStatus(LOAD_T *pLoad)
{
    return pLoad->flags.b.loadStopReadyStatus;
}
inline _Bool getLoadStallStatus(LOAD_T *pLoad)
{
    return (pLoad->faultStatus != LOAD_NO_FAULT);
}
inline _Bool runMotorDuringStop(LOAD_T *pLoad)
{
    _Bool status;
    status = ((pLoad->state == LOAD_SOFT_STOP) ||
                (pLoad->state == LOAD_STOP_INIT) ||
                (pLoad->state == LOAD_ALIGN_STOP));
    return status;
}
#endif /* ALGOLIB_LOAD_INCLUDE_LOAD_H_ */