77 lines
2.1 KiB
C
77 lines
2.1 KiB
C
#ifndef INC_TS_STATE_MACHINE_H
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#define INC_TS_STATE_MACHINE_H
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#include "stm32h7xx_hal.h"
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#include <stdint.h>
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#include <stdbool.h>
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// Minimum vehicle side voltage to exit precharge
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#define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV
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// Time to wait after reaching 95% of battery voltage before exiting precharge
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// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
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#define PRECHARGE_95_DURATION 0 // ms
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// Time to wait for discharge
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#define DISCHARGE_DURATION 5000 // ms
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// Time to wait after there is no more error condition before exiting TS_ERROR
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#define NO_ERROR_TIME 1000 // ms
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// Time to wait for charger voltage before going to TS_ERROR
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#define MAX_CHARGING_CHECK_DURATION 2000 // ms
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// Time to wait between closing relays
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#define RELAY_CLOSE_WAIT 10 // ms
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typedef enum {
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TS_INACTIVE,
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TS_ACTIVE,
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TS_PRECHARGE,
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TS_DISCHARGE,
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TS_ERROR,
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TS_CHARGING_CHECK,
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TS_CHARGING
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} TSState;
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typedef enum {
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TS_ERRORKIND_NONE = 0x00,
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TS_ERRORKIND_SLAVE_TIMEOUT = 0x01,
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TS_ERRORKIND_SLAVE_PANIC = 0x02,
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TS_ERRORKIND_SHUNT_TIMEOUT = 0x03,
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TS_ERRORKIND_SHUNT_OVERCURRENT = 0x04,
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TS_ERRORKIND_SHUNT_OVERTEMP = 0x05
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} TSErrorKind;
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typedef enum {
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TS_ERROR_SOURCE_SHUNT = (1 << 0),
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TS_ERROR_SOURCE_SLAVES = (1 << 1)
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} TSErrorSource;
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typedef struct {
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TSState current_state;
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TSState target_state;
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uint16_t error_source; // TSErrorSource (bitmask)
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uint16_t error_type; // TSErrorKind
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} TSStateHandle;
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extern TSStateHandle ts_state;
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void ts_sm_init();
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void ts_sm_update();
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TSState ts_sm_update_inactive();
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TSState ts_sm_update_active();
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TSState ts_sm_update_precharge();
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TSState ts_sm_update_discharge();
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TSState ts_sm_update_error();
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TSState ts_sm_update_charging_check();
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TSState ts_sm_update_charging();
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typedef enum { RELAY_NEG, RELAY_POS, RELAY_PRECHARGE } Relay;
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void ts_sm_set_relay_positions(TSState state);
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void ts_sm_set_relay_position(Relay relay, int closed);
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void ts_sm_check_close_wait(int *is_closed, int should_close);
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void ts_sm_handle_ams_in(const uint8_t *data);
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void ts_sm_set_error_source(TSErrorSource source, TSErrorKind error_type, bool is_errored);
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#endif // INC_TS_STATE_MACHINE_H
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