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added sm_get_state_code(), added more ErrorKinds

This commit is contained in:
Hamza 2024-05-24 15:20:23 +02:00
parent fe3bcb6ebb
commit 6f26e46e51
2 changed files with 46 additions and 17 deletions
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30
Core/Inc/state_machine.h
View File

@ -16,7 +16,7 @@
// Time to wait between closing relays
#define RELAY_CLOSE_WAIT 10 // ms
typedef enum { // valid transitions: (all could transition to error)
typedef enum { // 7 states -> 3 bit. valid transitions: (all could transition to error)
STATE_INACTIVE, // INACTIVE -> PRECHARGE, CHARGING, ERROR
STATE_PRECHARGE, // PRECHARGE -> INACTIVE, READY, DISCHARGE, ERROR
STATE_READY, // READY -> ACTIVE, DISCHARGE, ERROR
@ -26,16 +26,23 @@ typedef enum { // valid transitions: (all could transition to error)
STATE_ERROR, // ERROR -> INACTIVE, DISCHARGE, ERROR
} State;
typedef struct {
typedef struct { // 13 errors -> 4 bit
uint16_t bms_timeout : 1;
uint16_t overtemp : 1;
uint16_t overcurrent : 1;
uint16_t overvoltage : 1;
uint16_t missing_current_reading : 1;
uint16_t missing_voltage_reading : 1;
uint16_t missing_temp_reading : 1;
uint16_t precharge_fail : 1;
uint16_t powerground_fail : 1;
uint16_t bms_checksum_fail : 1;
uint16_t bms_overtemp : 1;
uint16_t bms_fault : 1;
uint16_t temperature_error : 1;
uint16_t current_error : 1;
uint16_t voltage_error : 1;
uint16_t temperature_sensor_missing : 1;
uint16_t current_sensor_missing : 1;
uint16_t voltage_missing : 1;
uint16_t relay_missing : 1;
uint16_t state_fail : 1;
uint16_t state_transition_fail : 1;
} ErrorKind;
//typedef enum {} WarningKind;
@ -51,6 +58,7 @@ extern StateHandle state;
void sm_init();
void sm_update();
int sm_get_state_code();
State sm_update_inactive();
State sm_update_precharge();
@ -65,6 +73,8 @@ void sm_set_relay_positions(State state);
void sm_set_relay(Relay relay, bool closed);
void sm_check_precharge_discharge(int *is_closed, int should_close);
void sm_check_errors();
void sm_handle_ams_in(const uint8_t *data);
void sm_set_error(ErrorKind error_kind, bool is_errored);

33
Core/Src/state_machine.c
View File

@ -8,17 +8,14 @@
StateHandle state;
static bool relay_closed = 0;
static bool precharge_closed = 0;
static int16_t RELAY_BAT_SIDE;
static int16_t RELAY_ESC_SIDE;
static int16_t CURRENT_MEASUREMENT;
static int16_t RELAY_BAT_SIDE = 0;
static int16_t RELAY_ESC_SIDE = 0;
static int16_t CURRENT_MEASUREMENT = 0;
void sm_init(){
state.current_state = STATE_INACTIVE;
state.target_state = STATE_INACTIVE;
state.error_source = 0;
RELAY_BAT_SIDE = 0;
RELAY_ESC_SIDE = 0;
CURRENT_MEASUREMENT = 0;
}
void sm_update(){
@ -51,10 +48,30 @@ void sm_update(){
//status_led_state(state.current_state, (ErrorKind) state.error_type);
}
int sm_get_state_code(){
switch (state.current_state) {
case STATE_INACTIVE:
return 0;
case STATE_PRECHARGE:
return 1;
case STATE_READY:
return 2;
case STATE_ACTIVE:
return 3;
case STATE_DISCHARGE:
return 4;
case STATE_CHARGING:
return 5;
default: // either STATE_ERROR or something went severly wrong
return 6;
}
}
State sm_update_inactive(){
switch (state.target_state) {
case STATE_PRECHARGE:
//close precharge relay, wait until both sides are similar
sm_set_relay_positions(STATE_PRECHARGE);
return STATE_PRECHARGE;
case STATE_CHARGING:
return STATE_CHARGING;
@ -184,4 +201,6 @@ void sm_check_precharge_discharge(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);
void sm_set_error(ErrorKind error_kind, bool is_errored);
void sm_check_errors(){}