FaSTTUBe/mv-bms
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added state_machine.c

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This commit is contained in:
Hamza Tamim 2024-05-23 19:08:23 +03:00
parent a3e7c2c266
commit 61c8d173a1
3 changed files with 217 additions and 10 deletions

71
Core/Inc/state_machine.h Normal file

@ -0,0 +1,71 @@
//int errorcode[2] = {0,0}; 1 Bit per error
#include <stdint.h>
#include <stdbool.h>
// Minimum vehicle side voltage to exit precharge
#define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV
// Time to wait after reaching 95% of battery voltage before exiting precharge
// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
#define PRECHARGE_95_DURATION 0 // ms
// Time to wait for discharge
#define DISCHARGE_DURATION 5000 // ms
// Time to wait after there is no more error condition before exiting TS_ERROR
#define NO_ERROR_TIME 1000 // ms
// Time to wait for charger voltage before going to TS_ERROR
#define MAX_CHARGING_CHECK_DURATION 2000 // ms
// Time to wait between closing relays
#define RELAY_CLOSE_WAIT 10 // ms
typedef enum { // valid transitions: (all could transition to error)
INACTIVE, // INACTIVE -> PRECHARGE, CHARGING, ERROR
PRECHARGE, // PRECHARGE -> INACTIVE, READY, DISCHARGE, ERROR
READY, // READY -> ACTIVE, DISCHARGE, ERROR
ACTIVE, // ACTIVE -> READY, DISCHARGE, ERROR
DISCHARGE, // DISCHARGE -> INACTIVE, PRECHARGE, ERROR
CHARGING, // CHARGING -> INACTIVE, DISCHARGE, ERROR
ERROR, // ERROR -> INACTIVE, DISCHARGE, ERROR
} State;
typedef enum {
ERRORKIND_NONE = 0x0,
ERRORKIND_BMS_TIMEOUT = 0x1,
ERRORKIND_OVERTEMPTURE = 0x2,
ERRORKIND_OVERCURRENT = 0x3,
ERRORKIND_OVERVOLTAGE = 0x4,
ERRORKIND_MISSING_CURRENT_READING = 0x5,
ERRORKIND_MISSING_VOLTAGE_READING = 0x6,
ERRORKIND_MISSING_TEMP_READING = 0x7,
ERRORKIND_PRECHARGE_FAIL = 0x8,
ERRORKIND_POWERGROUND_FAIL = 0x9
} ErrorKind;
//typedef enum {} WarningKind;
typedef struct {
State current_state;
State target_state;
uint16_t error_source; // TSErrorSource (bitmask)
uint16_t error_type; // TSErrorKind
} StateHandle;
extern StateHandle state;
void sm_init();
void sm_update();
State sm_update_inactive();
State sm_update_active();
State sm_update_precharge();
State sm_update_discharge();
State sm_update_error();
State sm_update_charging_check();
State sm_update_charging();
typedef enum { RELAY_POS, RELAY_PRECHARGE } Relay;
void sm_set_relay_positions(State state);
void sm_set_relay_position(Relay relay, int closed);
void sm_check_close_wait(int *is_closed, int should_close);
void sm_handle_ams_in(const uint8_t *data);
void sm_set_error(ErrorKind error_kind, bool is_errored);

10
Core/Src/main.c

@ -121,9 +121,6 @@ int main(void)
AMS_Init(&hspi1);
ams_can_init(&hcan);
bool relay_actual = false;
bool relay_target = true;
uint32_t target_time = HAL_GetTick() + 10000;
/* USER CODE END 2 */
@ -142,13 +139,6 @@ int main(void)
ams_can_send_error();
}
ams_can_send_log();
if (HAL_GetTick() >= target_time) {
HAL_GPIO_WritePin(RELAY_EN_GPIO_Port, RELAY_EN_Pin, relay_target ? GPIO_PIN_SET : GPIO_PIN_RESET);
HAL_GPIO_WritePin(STATUS_LED_R_GPIO_Port, STATUS_LED_R_Pin, relay_target ? GPIO_PIN_RESET : GPIO_PIN_SET);
target_time = HAL_GetTick() + 10000;
relay_target = !relay_target;
}
}
/* USER CODE END 3 */
}

146
Core/Src/state_machine.c Normal file

@ -0,0 +1,146 @@
#include "state_machine.h"
StateHandle state;
void sm_init(){
state.current_state = INACTIVE;
state.target_state = INACTIVE;
state.error_source = 0;
}
void sm_update(){
if (state.error_source) {
state.current_state = ERROR;
}
switch (state.current_state) {
case INACTIVE:
//state.current_state = sm_update_inactive(); moniter only
break;
case PRECHARGE:
//state.current_state = sm_update_precharge(); set PRECHARGE and turn on cooling at 50% or such
break;
case READY:
//state.current_state = ; keep cooling at 50%, get ready to turn on powerground
break;
case ACTIVE:
//state.current_state = sm_update_precharge(); set PRECHARGE and turn on cooling at 50% or such
break;
case DISCHARGE:
//state.current_state = sm_update_discharge(); // open the main relay, keep PRECHARGE closed
break;
case CHARGING:
//state.current_state = sm_update_charging(); // turn on cooling if needed,
break;
case ERROR:
//state.current_state = sm_update_error(); // enter the correct ERROR state
break;
case WARNING:
//state.current_state = sm_update_error(); // send warnings through CAN
break;
}
sm_set_relay_positions(state.current_state);
status_led_state(state.current_state, (ErrorKind) state.error_type);
}
State sm_update_inactive(){
switch (state.target_state) {
case PRECHARGE:
if ()
break;
case CHARGING:
break;
}
return INACTIVE;
}
State sm_update_precharge(){
switch (state.target_state) {
case INACTIVE:
break;
case READY:
break;
case DISCHARGE:
break;
}
return PRECHARGE;
}
State sm_update_ready(){
switch (state.target_state) {
case ACTIVE:
break;
case DISCHARGE:
break;
}
return READY;
}
State sm_update_active(){
switch (state.target_state) {
case READY:
break;
case DISCHARGE:
break;
}
return ACTIVE;
}
State sm_update_discharge(){
switch (state.target_state) {
case INACTIVE:
break;
case PRECHARGE:
break;
}
return DISCHARGE;
}
State sm_update_charging(){
switch (state.target_state) {
case INACTIVE:
break;
case DISCHARGE:
break;
}
return CHARGING;
}
State sm_update_error(){
switch (state.target_state) {
case INACTIVE:
break;
case DISCHARGE:
break;
}
return ERROR;
}
void sm_set_relay_positions(State state){
return;
}
void sm_set_relay(Relay relay, int closed){
static int closed = 0;
static int precharge_closed = 0;
GPIO_PinState state = closed ? GPIO_PIN_SET : GPIO_PIN_RESET;
switch (relay) {
case RELAY_POS:
ts_sm_check_close_wait(&closed, closed);
HAL_GPIO_WritePin(RELAY_EN_GPIO_Port, RELAY_EN_Pin, state);
break;
case RELAY_PRECHARGE:
ts_sm_check_close_wait(&precharge_closed, closed);
HAL_GPIO_WritePin(PRECHARGE_EN_GPIO_Port, PRECHARGE_EN_Pin, state);
break;
}
}
//void sm_check_close_wait(int *is_closed, int should_close);
//void sm_handle_ams_in(const uint8_t *data);
//void sm_set_error(ErrorKind error_kind, bool is_errored);