clean up

Core/Inc/state_machine.h

@@ -26,7 +26,7 @@ typedef enum {    // 7 states -> 3 bit. valid transitions: (all could transition
   STATE_ERROR,          // ERROR      ->  INACTIVE, DISCHARGE, ERROR
 } State;
   
-typedef struct {  // 13 errors -> 4 bit
+typedef struct {  
   uint16_t bms_timeout : 1;
   uint16_t bms_checksum_fail : 1;
   uint16_t bms_overtemp : 1;
@@ -58,7 +58,6 @@ extern StateHandle state;
 
 void sm_init();
 void sm_update();
-int sm_get_state_code();
 
 State sm_update_inactive();
 State sm_update_precharge();
@@ -71,7 +70,7 @@ State sm_update_error();
 typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
 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_precharge_discharge(bool *is_closed, bool should_close);
 
 void sm_check_errors();
 

Core/Src/can.c

@@ -9,6 +9,7 @@
 #include "AMS_HighLevel.h"
 //#include "TMP1075.h"
 #include "can-halal.h"
+#include "state_machine.h"
 
 void can_init(CAN_HandleTypeDef* hcan) { ftcan_init(hcan); }
 
@@ -20,7 +21,7 @@ with format of:
 
 */
 void can_handle_send_status() {
-  static uint8_t data[8];
+  static uint8_t data[8] = {};
-  //data[0] =  state. (sm_get_state_code() << 5);       //save 5 bit since codes are from 0-6
+  data[0] = (state.current_state << 5);       //save 5 bit since codes are from 0-6
-  //ftcan_transmit(id, data, sizeof(data));
+  ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
 }

Core/Src/state_machine.c

@@ -21,52 +21,33 @@ void sm_init(){
 void sm_update(){
 
   switch (state.current_state) {
-  case STATE_INACTIVE:
+    case STATE_INACTIVE:
-    state.current_state = sm_update_inactive();       // moniter only
+      state.current_state = sm_update_inactive();       // monitor only
-    break;
+      break;
-  case STATE_PRECHARGE:
+    case STATE_PRECHARGE:
-    state.current_state = sm_update_precharge();      // set PRECHARGE and turn on cooling at 50% or such
+      state.current_state = sm_update_precharge();      // set PRECHARGE and turn on cooling at 50% or such
-    break;
+      break;
-  case STATE_READY:
+    case STATE_READY:
-    state.current_state = sm_update_ready();          // keep cooling at 50%, get ready to turn on powerground
+      state.current_state = sm_update_ready();          // keep cooling at 50%, get ready to turn on powerground
-    break;
+      break;
-  case STATE_ACTIVE:
+    case STATE_ACTIVE:
-    state.current_state = sm_update_active();         // set PRECHARGE and turn on cooling at 50% or such
+      state.current_state = sm_update_active();         // set PRECHARGE and turn on cooling at 50% or such
-    break;
+      break;
-  case STATE_DISCHARGE:
+    case STATE_DISCHARGE:
-    state.current_state = sm_update_discharge();      // open the main relay, keep PRECHARGE closed
+      state.current_state = sm_update_discharge();      // open the main relay, keep PRECHARGE closed
-    break;
+      break;
-  case STATE_CHARGING:
+    case STATE_CHARGING:
-    state.current_state = sm_update_charging();       // monitor and turn on cooling if needed. 
+      state.current_state = sm_update_charging();       // monitor and turn on cooling if needed. 
-    break;
+      break;
-  case STATE_ERROR:
+    case STATE_ERROR:
-    state.current_state = sm_update_error();          // enter the correct ERROR state 
+      state.current_state = sm_update_error();          // enter the correct ERROR state 
-    break;
+      break;
   }
 
   sm_set_relay_positions(state.current_state);
   //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:
@@ -182,19 +163,19 @@ void sm_set_relay_positions(State current_state){
 void sm_set_relay(Relay relay, bool closed){
   GPIO_PinState state = closed ? GPIO_PIN_SET : GPIO_PIN_RESET;
   switch (relay) {
-  case RELAY_MAIN:
+    case RELAY_MAIN:
-    HAL_GPIO_WritePin(RELAY_EN_GPIO_Port, RELAY_EN_Pin, state);
+      HAL_GPIO_WritePin(RELAY_EN_GPIO_Port, RELAY_EN_Pin, state);
-    relay_closed = closed;
+      relay_closed = closed;
-    break;
+      break;
-  case RELAY_PRECHARGE:
+    case RELAY_PRECHARGE:
-    HAL_GPIO_WritePin(PRECHARGE_EN_GPIO_Port, PRECHARGE_EN_Pin, state);
+      HAL_GPIO_WritePin(PRECHARGE_EN_GPIO_Port, PRECHARGE_EN_Pin, state);
-    precharge_closed = closed;
+      precharge_closed = closed;
-    break;
+      break;
   }
 }
 
 
-void sm_check_precharge_discharge(int *is_closed, int should_close){}
+void sm_check_precharge_discharge(bool *is_closed, bool should_close){}
   // compare RELAY_BATT_SIDE and RELAY_ESC_SIDE
   // if (state.current_state == STATE_PRECHARGE && (RELAY_ESC_SIDE < RELAY_BAT_SIDE)) //-> don't switch from PRECHARGE to READY
   // if (state.current_state == STATE_DISCHARGE && (RELAY_ESC_SIDE > 12V)) -> don't switch from DISCHARGE to INACTIVE