added state_machine.c
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Core/Inc/state_machine.h
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71
Core/Inc/state_machine.h
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//int errorcode[2] = {0,0}; 1 Bit per error
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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 { // valid transitions: (all could transition to error)
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INACTIVE, // INACTIVE -> PRECHARGE, CHARGING, ERROR
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PRECHARGE, // PRECHARGE -> INACTIVE, READY, DISCHARGE, ERROR
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READY, // READY -> ACTIVE, DISCHARGE, ERROR
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ACTIVE, // ACTIVE -> READY, DISCHARGE, ERROR
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DISCHARGE, // DISCHARGE -> INACTIVE, PRECHARGE, ERROR
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CHARGING, // CHARGING -> INACTIVE, DISCHARGE, ERROR
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ERROR, // ERROR -> INACTIVE, DISCHARGE, ERROR
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} State;
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typedef enum {
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ERRORKIND_NONE = 0x0,
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ERRORKIND_BMS_TIMEOUT = 0x1,
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ERRORKIND_OVERTEMPTURE = 0x2,
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ERRORKIND_OVERCURRENT = 0x3,
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ERRORKIND_OVERVOLTAGE = 0x4,
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ERRORKIND_MISSING_CURRENT_READING = 0x5,
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ERRORKIND_MISSING_VOLTAGE_READING = 0x6,
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ERRORKIND_MISSING_TEMP_READING = 0x7,
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ERRORKIND_PRECHARGE_FAIL = 0x8,
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ERRORKIND_POWERGROUND_FAIL = 0x9
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} ErrorKind;
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//typedef enum {} WarningKind;
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typedef struct {
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State current_state;
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State 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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} StateHandle;
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extern StateHandle state;
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void sm_init();
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void sm_update();
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State sm_update_inactive();
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State sm_update_active();
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State sm_update_precharge();
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State sm_update_discharge();
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State sm_update_error();
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State sm_update_charging_check();
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State sm_update_charging();
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typedef enum { RELAY_POS, RELAY_PRECHARGE } Relay;
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void sm_set_relay_positions(State state);
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void sm_set_relay_position(Relay relay, int closed);
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void sm_check_close_wait(int *is_closed, int should_close);
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void sm_handle_ams_in(const uint8_t *data);
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void sm_set_error(ErrorKind error_kind, bool is_errored);
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@ -121,9 +121,6 @@ int main(void)
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AMS_Init(&hspi1);
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ams_can_init(&hcan);
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bool relay_actual = false;
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bool relay_target = true;
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uint32_t target_time = HAL_GetTick() + 10000;
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/* USER CODE END 2 */
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@ -142,13 +139,6 @@ int main(void)
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ams_can_send_error();
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}
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ams_can_send_log();
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if (HAL_GetTick() >= target_time) {
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HAL_GPIO_WritePin(RELAY_EN_GPIO_Port, RELAY_EN_Pin, relay_target ? GPIO_PIN_SET : GPIO_PIN_RESET);
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HAL_GPIO_WritePin(STATUS_LED_R_GPIO_Port, STATUS_LED_R_Pin, relay_target ? GPIO_PIN_RESET : GPIO_PIN_SET);
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target_time = HAL_GetTick() + 10000;
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relay_target = !relay_target;
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}
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}
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/* USER CODE END 3 */
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}
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146
Core/Src/state_machine.c
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146
Core/Src/state_machine.c
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#include "state_machine.h"
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StateHandle state;
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void sm_init(){
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state.current_state = INACTIVE;
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state.target_state = INACTIVE;
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state.error_source = 0;
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}
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void sm_update(){
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if (state.error_source) {
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state.current_state = ERROR;
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}
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switch (state.current_state) {
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case INACTIVE:
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//state.current_state = sm_update_inactive(); moniter only
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break;
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case PRECHARGE:
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//state.current_state = sm_update_precharge(); set PRECHARGE and turn on cooling at 50% or such
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break;
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case READY:
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//state.current_state = ; keep cooling at 50%, get ready to turn on powerground
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break;
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case ACTIVE:
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//state.current_state = sm_update_precharge(); set PRECHARGE and turn on cooling at 50% or such
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break;
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case DISCHARGE:
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//state.current_state = sm_update_discharge(); // open the main relay, keep PRECHARGE closed
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break;
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case CHARGING:
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//state.current_state = sm_update_charging(); // turn on cooling if needed,
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break;
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case ERROR:
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//state.current_state = sm_update_error(); // enter the correct ERROR state
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break;
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case WARNING:
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//state.current_state = sm_update_error(); // send warnings through CAN
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break;
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}
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sm_set_relay_positions(state.current_state);
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status_led_state(state.current_state, (ErrorKind) state.error_type);
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}
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State sm_update_inactive(){
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switch (state.target_state) {
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case PRECHARGE:
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if ()
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break;
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case CHARGING:
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break;
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}
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return INACTIVE;
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}
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State sm_update_precharge(){
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switch (state.target_state) {
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case INACTIVE:
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break;
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case READY:
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break;
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case DISCHARGE:
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break;
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}
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return PRECHARGE;
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}
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State sm_update_ready(){
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switch (state.target_state) {
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case ACTIVE:
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break;
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case DISCHARGE:
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break;
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}
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return READY;
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}
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State sm_update_active(){
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switch (state.target_state) {
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case READY:
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break;
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case DISCHARGE:
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break;
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}
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return ACTIVE;
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}
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State sm_update_discharge(){
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switch (state.target_state) {
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case INACTIVE:
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break;
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case PRECHARGE:
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break;
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}
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return DISCHARGE;
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}
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State sm_update_charging(){
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switch (state.target_state) {
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case INACTIVE:
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break;
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case DISCHARGE:
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break;
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}
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return CHARGING;
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}
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State sm_update_error(){
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switch (state.target_state) {
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case INACTIVE:
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break;
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case DISCHARGE:
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break;
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}
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return ERROR;
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}
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void sm_set_relay_positions(State state){
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return;
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}
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void sm_set_relay(Relay relay, int closed){
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static int closed = 0;
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static int precharge_closed = 0;
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GPIO_PinState state = closed ? GPIO_PIN_SET : GPIO_PIN_RESET;
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switch (relay) {
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case RELAY_POS:
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ts_sm_check_close_wait(&closed, closed);
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HAL_GPIO_WritePin(RELAY_EN_GPIO_Port, RELAY_EN_Pin, state);
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break;
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case RELAY_PRECHARGE:
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ts_sm_check_close_wait(&precharge_closed, closed);
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HAL_GPIO_WritePin(PRECHARGE_EN_GPIO_Port, PRECHARGE_EN_Pin, state);
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break;
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}
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}
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//void sm_check_close_wait(int *is_closed, int should_close);
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//void sm_handle_ams_in(const uint8_t *data);
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//void sm_set_error(ErrorKind error_kind, bool is_errored);
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