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updated state machine

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This commit is contained in:
Hamza
2024-05-27 13:29:53 +02:00
parent 9042ceb02c
commit fc24a34740
5 changed files with 169 additions and 96 deletions
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41
Core/Inc/state_machine.h
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@ -1,7 +1,17 @@
//int errorcode[2] = {0,0}; 1 Bit per error
#ifndef INC_STATE_MACHINE_H
#define INC_STATE_MACHINE_H
#include <stdint.h>
#include <stdbool.h>
#include "ADBMS_LL_Driver.h"
#include "AMS_HighLevel.h"
#include "PWM_control.h"
#include "stm32f3xx_hal.h"
#include "ADBMS_Abstraction.h"
#include "main.h"
#include "can.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
@ -16,19 +26,19 @@
// Time to wait between closing relays
#define RELAY_CLOSE_WAIT 10 // ms
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
STATE_ACTIVE, // ACTIVE -> READY, DISCHARGE, ERROR
STATE_DISCHARGE, // DISCHARGE -> INACTIVE, PRECHARGE, ERROR
STATE_CHARGING, // CHARGING -> INACTIVE, DISCHARGE, ERROR
STATE_ERROR, // ERROR -> INACTIVE, DISCHARGE, ERROR
typedef enum { // 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
STATE_ACTIVE, // ACTIVE -> READY, DISCHARGE, ERROR
STATE_DISCHARGE, // DISCHARGE -> INACTIVE, PRECHARGE, ERROR
STATE_CHARGING_PRECHARGE,
STATE_CHARGING, // CHARGING -> INACTIVE, DISCHARGE, ERROR
STATE_ERROR, // ERROR -> INACTIVE, DISCHARGE, ERROR
} State;
typedef struct {
uint16_t bms_timeout : 1;
uint16_t bms_checksum_fail : 1;
uint16_t bms_overtemp : 1;
uint16_t bms_fault : 1;
@ -39,9 +49,9 @@ typedef struct {
uint16_t temperature_sensor_missing : 1;
uint16_t current_sensor_missing : 1;
uint16_t voltage_missing : 1;
uint16_t battery_missing : 1;
uint16_t relay_missing : 1;
uint16_t state_fail : 1;
uint16_t state_transition_fail : 1;
} ErrorKind;
@ -64,16 +74,17 @@ State sm_update_precharge();
State sm_update_ready();
State sm_update_active();
State sm_update_discharge();
State sm_update_charging_precharge();
State sm_update_charging();
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(bool *is_closed, bool should_close);
void sm_charging_check();
void sm_handle_ams_in();
void sm_check_errors();
void sm_set_error(ErrorKind error_kind, bool is_errored);
void sm_handle_ams_in(const uint8_t *data);
void sm_set_error(ErrorKind error_kind, bool is_errored);
#endif /* "INC_STATE_MACHINE_H" */