#ifndef __MC_TASKS_H__
#define __MC_TASKS_H__

#include "main.h"

// Motor controler state
typedef enum eFSMState {
BOOT_UP     = 0,
IDLE        = 1,
RUN         = 2,
CALIBRATION = 3,
ANTICOGGING = 4,
} tFSMState;

typedef struct sMCStatusword
{
union {
    uint32_t status_code;
    struct
    {
        uint32_t switched_on : 1;
        uint32_t target_reached : 1;
        uint32_t current_limit_active : 1;
        uint32_t PADDING : 29;
    };
} status;

union {
    uint32_t errors_code;
    struct
    {
        // FATAL
        uint32_t adc_selftest_fatal : 1; // 1<<0
        uint32_t encoder_offline : 1;    // 1<<1
        uint32_t PADDING_1 : 14;
        // ERROR
        uint32_t over_voltage : 1;  // 1<<16
        uint32_t under_voltage : 1; // 1<<17
        uint32_t over_current : 1;  // 1<<18
        uint32_t PADDING_2 : 13;
    };
} errors;
} tMCStatusword;

extern volatile tMCStatusword StatuswordNew;
extern volatile tMCStatusword StatuswordOld;

void      MCT_init(void);
void      MCT_reset_error(void);
tFSMState MCT_get_state(void);
int       MCT_set_state(tFSMState state);

void MCT_high_frequency_task(void);
void MCT_safety_task(void);
void MCT_low_priority_task(void);

#endif