InverterInterface.h

#ifndef INVERTERINTERFACE_H
#define INVERTERINTERFACE_H
#include <stdint.h>

#include "FlexCAN_T4.h"
#include "MessageQueueDefine.h"

#include <hytech.h>
#include "DrivetrainSystem.h"
#include <CANInterface.h>

namespace HTUnits
{
    using celcius = float;
    using watts = float;
    using var = float;
    using torque_nm = float;
    using speed_rpm = float;
    using volts = float;
};

struct InverterParams_s
{   
    float MINIMUM_HV_VOLTAGE; 
};

/**
 * Struct containing id info for this specific inverter interface
 */
struct InverterIds_s
{
    uint32_t inv_control_word_id; 
    uint32_t inv_control_input_id; 
    uint32_t inv_control_parameter_id; 
};

/** 
 * Drivetrain system accessible structs for 
 * requesting change of state
 */
struct InverterControlWord_s 
{
    bool inverter_enable : 1;
    bool hv_enable : 1;
    bool driver_enable : 1;
    bool remove_error : 1;
};

struct InverterControlInput_s 
{
    int16_t speed_rpm_setpoint;
    int16_t positive_torque_limit; 
    int16_t negative_torque_limit;
};

struct InverterControlParams_s
{
    uint16_t speed_control_kp; 
    uint16_t speed_control_ki;
    uint16_t speed_control_kd;
};

/** 
 * For the most part these are mirrors of the lower-level CAN struct data, 
 * except with already fully float-ized data
**/
struct InverterStatus_s
{
    bool hv_present : 1;
    bool connected : 1;
    bool new_data : 1;
    bool system_ready : 1;
    bool error : 1;
    bool warning : 1;
    bool quit_dc_on : 1;
    bool dc_on : 1;
    bool quit_inverter_on : 1;
    bool inverter_on : 1;
    bool derating_on : 1;
    HTUnits::volts dc_bus_voltage;
    uint16_t diagnostic_number;
};

struct InverterTemps_s
{
    bool new_data : 1;
    HTUnits::celcius motor_temp;
    HTUnits::celcius inverter_temp;
    HTUnits::celcius igbt_temp;
};

struct InverterPower_s
{
    bool new_data : 1;
    HTUnits::watts active_power;
    HTUnits::var reactive_power;
};

struct MotorMechanics_s
{
    bool new_data : 1;
    HTUnits::watts actual_power;
    HTUnits::torque_nm actual_torque;
    HTUnits::speed_rpm actual_speed;
};

struct InverterControlFeedback_s
{
    bool new_data : 1;
    uint16_t speed_control_kp;
    uint16_t speed_control_ki;
    uint16_t speed_control_kd;
};

struct InverterFeedbackData_s
{
    InverterStatus_s status;
    InverterTemps_s temps;
    InverterPower_s power;
    MotorMechanics_s motor_mechanics;
    InverterControlFeedback_s control_feedback;
};

/**
 * Inverter interface
 */
class InverterInterface
{

    public: 

        InverterInterface(
            CANBufferType *msg_output_queue, 
            uint32_t inv_control_word_id,
            uint32_t inv_control_input_id,
            uint32_t inv_control_params_id,
            InverterParams_s inverter_params) : msg_queue_(msg_output_queue), _inverter_params(inverter_params)
        { 
            inverter_ids.inv_control_word_id = inv_control_word_id;
            inverter_ids.inv_control_parameter_id = inv_control_params_id;
            inverter_ids.inv_control_input_id = inv_control_input_id;
        }

        // TODO un-public these (they are public for testing)

        /* receiving callbacks */
        void receive_INV_STATUS(CAN_message_t &can_msg);

        void receive_INV_TEMPS(CAN_message_t &can_msg);

        void receive_INV_DYNAMICS(CAN_message_t &can_msg);

        void receive_INV_POWER(CAN_message_t &can_msg);

        void receive_INV_FEEDBACK(CAN_message_t &can_msg);

        /* Sending */
        void send_INV_SETPOINT_COMMAND();

        void send_INV_CONTROL_WORD();

        void send_INV_CONTROL_PARAMS(); 

        /* Inverter Functs */
        void set_speed(float desired_rpm, float torque_limit_nm); 

        void set_idle();

        void set_inverter_control_word(InverterControlWord_s control_word);

        InverterStatus_s get_inverter_status();

    private: 

        InverterIds_s inverter_ids;
        InverterControlInput_s _inverter_control_inputs;
        InverterControlWord_s _inverter_control_word;
        InverterControlParams_s _inverter_control_params;
        InverterFeedbackData_s _feedback_data;
        InverterParams_s _inverter_params;

        /* Getters */
        InverterStatus_s get_status(); 
        InverterTemps_s get_temps();
        InverterPower_s get_power();
        MotorMechanics_s get_motor_mechanics();
        InverterControlFeedback_s get_control_params();

        CANBufferType *msg_queue_;
};
#endif // __INVERTERINTERFACE_H__