controller_task.h

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#ifndef INC_CONTROLLER_TASK_H_
#define INC_CONTROLLER_TASK_H_
 
#include "motor_driver.h"
#include <stdlib.h>
#include <stdio.h>
#include "stm32f4xx_hal.h"
#include "encoder_driver.h"
#include <stdint.h> // Allows use of standard integer types

typedef struct ControllerTask ControllerTask; // forward declaration

typedef void (*controller_fcn_t)(ControllerTask *controller_task);

struct ControllerTask
{
    int32_t             dir;              
    int32_t             state;            
    int32_t             num_states;       
    uint32_t            chan1;            
    uint32_t            chan2;            
    int32_t             pot_zero;         
    int32_t             des_pos;          
    uint32_t            prev_time;        
    uint32_t            current_time;     
    uint32_t            prev_ticks;       
    float               k_p;              
    float               k_i;              
    uint32_t            adc_val;          
    int32_t             integral_error;   
    TIM_HandleTypeDef   *htim_encoder;    
    TIM_HandleTypeDef   *htim_dt;         
    ADC_HandleTypeDef   *hadc;            
    motor_t             *motor;           
    encoder_t           *encoder;         
 
    float               prev_error;       
 
    controller_fcn_t    state_list[];     
};

void controller_task_state_0_init(ControllerTask *controller_task);

void controller_task_run(ControllerTask *controller_task);

void controller_task_state_1_pos(ControllerTask *controller_task);
 
#endif /* INC_CONTROLLER_TASK_H_ */