FaSTTUBe/mv-bms
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implemented can_hanlde_recieve_command correctly

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changed can_handle_send_status
This commit is contained in:
Hamza
2024-05-28 19:01:01 +02:00
parent 2c1171e830
commit a0e55c0f44
4 changed files with 83 additions and 33 deletions
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49
Core/Src/state_machine.c
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@ -1,24 +1,23 @@
#include "state_machine.h"
#include "ADBMS_LL_Driver.h"
#include "TMP1075.h"
#include "common_defs.h"
#include <math.h>
StateHandle state;
static bool relay_closed = 0;
static bool precharge_closed = 0;
static int16_t RELAY_BAT_SIDE_VOLTAGE = 0;
static int16_t RELAY_ESC_SIDE_VOLTAGE = 0;
static int16_t CURRENT_MEASUREMENT_VOLTAGE = 0;
static int16_t timestamp;
void sm_init(){
state.current_state = STATE_INACTIVE;
state.target_state = STATE_INACTIVE;
state.error_source = 0;
RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[0];
RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[1];
CURRENT_MEASUREMENT_VOLTAGE = module.auxVoltages[2];
}
void sm_update(){
sm_handle_ams_in();
RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[0];
RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[1];
CURRENT_MEASUREMENT_VOLTAGE = module.auxVoltages[2];
switch (state.current_state) {
case STATE_INACTIVE:
state.current_state = sm_update_inactive(); // monitor only
@ -65,7 +64,7 @@ State sm_update_precharge(){
case STATE_INACTIVE: // if CAN Signal 0000 0000 then immidiete shutdown
return STATE_DISCHARGE;
case STATE_READY:
if (RELAY_BAT_SIDE_VOLTAGE == RELAY_ESC_SIDE_VOLTAGE)
if (roundf(RELAY_BAT_SIDE_VOLTAGE) == roundf(RELAY_ESC_SIDE_VOLTAGE))
return STATE_READY;
default:
return STATE_PRECHARGE;
@ -97,7 +96,7 @@ State sm_update_active(){
State sm_update_discharge(){
switch (state.target_state) {
case STATE_INACTIVE:
if (RELAY_ESC_SIDE_VOLTAGE == 0)
if (RELAY_ESC_SIDE_VOLTAGE < 12)
return STATE_INACTIVE;
case STATE_PRECHARGE: // if CAN Signal 1000 0000 then get ready
return STATE_PRECHARGE;
@ -182,9 +181,23 @@ void sm_set_relay(Relay relay, bool closed){
}
}
void sm_handle_ams_in(){
uint8_t data[2] = {};
can_handle_recieve_command(&data);
void sm_check_charging(){
if (RELAY_BAT_SIDE_VOLTAGE < RELAY_ESC_SIDE_VOLTAGE && timestamp == 0)
timestamp = HAL_GetTick() + 5000;
if (timestamp < HAL_GetTick())
state.target_state = STATE_CHARGING_PRECHARGE;
}
void sm_check_cell_temps(int8_t *id, int16_t *temp){
for (int i = 0; i < N_TEMP_SENSORS; i++) {
if (tmp1075_temps[i] > *temp){
*id = i;
}
}
}
void sm_handle_ams_in(const uint8_t *data){
switch (data[0]) {
case 0b00000000:
if (state.current_state != STATE_INACTIVE){
@ -210,6 +223,7 @@ void sm_handle_ams_in(){
void sm_set_error(ErrorKind error_kind, bool is_errored){}
#warning TODO: add error checking for everything here
void sm_check_errors(){
if (module.status.THSD == 1) {
state.error_type.bms_overtemp = 1;
@ -218,10 +232,3 @@ void sm_check_errors(){
state.error_source = (1 << 10);
}
}
void sm_charging_check(){
if (RELAY_BAT_SIDE_VOLTAGE < RELAY_ESC_SIDE_VOLTAGE && timestamp == 0)
timestamp = HAL_GetTick() + 5000;
if (timestamp < HAL_GetTick())
state.target_state = STATE_CHARGING_PRECHARGE;
}