added state_machine.c

Core/Inc/state_machine.h

@@ -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);