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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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27
Core/Inc/state_machine.h
View File

@ -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 <stdint.h>
#include <stdbool.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 // Minimum vehicle side voltage to exit precharge
#define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV #define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV
// Time to wait after reaching 95% of battery voltage before exiting precharge // Time to wait after reaching 95% of battery voltage before exiting precharge
@ -16,19 +26,19 @@
// Time to wait between closing relays // Time to wait between closing relays
#define RELAY_CLOSE_WAIT 10 // ms #define RELAY_CLOSE_WAIT 10 // ms
typedef enum { // 7 states -> 3 bit. valid transitions: (all could transition to error) typedef enum { // states -> 3 bit. valid transitions: (all could transition to error)
STATE_INACTIVE, // INACTIVE -> PRECHARGE, CHARGING, ERROR STATE_INACTIVE, // INACTIVE -> PRECHARGE, CHARGING, ERROR
STATE_PRECHARGE, // PRECHARGE -> INACTIVE, READY, DISCHARGE, ERROR STATE_PRECHARGE, // PRECHARGE -> INACTIVE, READY, DISCHARGE, ERROR
STATE_READY, // READY -> ACTIVE, DISCHARGE, ERROR STATE_READY, // READY -> ACTIVE, DISCHARGE, ERROR
STATE_ACTIVE, // ACTIVE -> READY, DISCHARGE, ERROR STATE_ACTIVE, // ACTIVE -> READY, DISCHARGE, ERROR
STATE_DISCHARGE, // DISCHARGE -> INACTIVE, PRECHARGE, ERROR STATE_DISCHARGE, // DISCHARGE -> INACTIVE, PRECHARGE, ERROR
STATE_CHARGING_PRECHARGE,
STATE_CHARGING, // CHARGING -> INACTIVE, DISCHARGE, ERROR STATE_CHARGING, // CHARGING -> INACTIVE, DISCHARGE, ERROR
STATE_ERROR, // ERROR -> INACTIVE, DISCHARGE, ERROR STATE_ERROR, // ERROR -> INACTIVE, DISCHARGE, ERROR
} State; } State;
typedef struct { typedef struct {
uint16_t bms_timeout : 1; uint16_t bms_timeout : 1;
uint16_t bms_checksum_fail : 1;
uint16_t bms_overtemp : 1; uint16_t bms_overtemp : 1;
uint16_t bms_fault : 1; uint16_t bms_fault : 1;
@ -39,9 +49,9 @@ typedef struct {
uint16_t temperature_sensor_missing : 1; uint16_t temperature_sensor_missing : 1;
uint16_t current_sensor_missing : 1; uint16_t current_sensor_missing : 1;
uint16_t voltage_missing : 1; uint16_t voltage_missing : 1;
uint16_t battery_missing : 1;
uint16_t relay_missing : 1; uint16_t relay_missing : 1;
uint16_t state_fail : 1;
uint16_t state_transition_fail : 1; uint16_t state_transition_fail : 1;
} ErrorKind; } ErrorKind;
@ -64,16 +74,17 @@ State sm_update_precharge();
State sm_update_ready(); State sm_update_ready();
State sm_update_active(); State sm_update_active();
State sm_update_discharge(); State sm_update_discharge();
State sm_update_charging_precharge();
State sm_update_charging(); State sm_update_charging();
State sm_update_error(); State sm_update_error();
typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay; typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
void sm_set_relay_positions(State state); void sm_set_relay_positions(State state);
void sm_set_relay(Relay relay, bool closed); 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_check_errors();
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);
#endif /* "INC_STATE_MACHINE_H" */

2
Core/Src/can.c
View File

@ -24,5 +24,5 @@ void can_handle_send_status() {
} }
void can_handle_recieve_command(const uint8_t *data){ void can_handle_recieve_command(const uint8_t *data){
ftcan_msg_received_cb(0x501, 8, data); ftcan_msg_received_cb(0x501, 16, data);
} }

114
Core/Src/state_machine.c
View File

@ -1,25 +1,24 @@
#include "state_machine.h" #include "state_machine.h"
#include "ADBMS_LL_Driver.h"
#include "AMS_HighLevel.h"
#include "stm32f3xx_hal.h"
#include "ADBMS_Abstraction.h"
#include "main.h"
StateHandle state; StateHandle state;
static bool relay_closed = 0; static bool relay_closed = 0;
static bool precharge_closed = 0; static bool precharge_closed = 0;
static int16_t RELAY_BAT_SIDE = 0; static int16_t RELAY_BAT_SIDE_VOLTAGE = 0;
static int16_t RELAY_ESC_SIDE = 0; static int16_t RELAY_ESC_SIDE_VOLTAGE = 0;
static int16_t CURRENT_MEASUREMENT = 0; static int16_t CURRENT_MEASUREMENT_VOLTAGE = 0;
static int16_t timestamp;
void sm_init(){ void sm_init(){
state.current_state = STATE_INACTIVE; state.current_state = STATE_INACTIVE;
state.target_state = STATE_INACTIVE; state.target_state = STATE_INACTIVE;
state.error_source = 0; 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(){ void sm_update(){
sm_handle_ams_in();
switch (state.current_state) { switch (state.current_state) {
case STATE_INACTIVE: case STATE_INACTIVE:
state.current_state = sm_update_inactive(); // monitor only state.current_state = sm_update_inactive(); // monitor only
@ -36,6 +35,9 @@ void sm_update(){
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_PRECHARGE:
state.current_state = sm_update_charging_precharge();
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;
@ -45,17 +47,14 @@ void sm_update(){
} }
sm_set_relay_positions(state.current_state); sm_set_relay_positions(state.current_state);
//status_led_state(state.current_state, (ErrorKind) state.error_type);
} }
State sm_update_inactive(){ State sm_update_inactive(){
switch (state.target_state) { switch (state.target_state) {
case STATE_PRECHARGE: case STATE_PRECHARGE:
//close precharge relay, wait until both sides are similar
sm_set_relay_positions(STATE_PRECHARGE);
return STATE_PRECHARGE; return STATE_PRECHARGE;
case STATE_CHARGING: case STATE_CHARGING_PRECHARGE:
return STATE_CHARGING; return STATE_CHARGING_PRECHARGE;
default: default:
return STATE_INACTIVE; return STATE_INACTIVE;
} }
@ -63,12 +62,11 @@ State sm_update_inactive(){
State sm_update_precharge(){ State sm_update_precharge(){
switch (state.target_state) { switch (state.target_state) {
case STATE_INACTIVE: case STATE_INACTIVE: // if CAN Signal 0000 0000 then immidiete shutdown
return STATE_INACTIVE;
case STATE_READY:
return STATE_READY;
case STATE_DISCHARGE:
return STATE_DISCHARGE; return STATE_DISCHARGE;
case STATE_READY:
if (RELAY_BAT_SIDE_VOLTAGE == RELAY_ESC_SIDE_VOLTAGE)
return STATE_READY;
default: default:
return STATE_PRECHARGE; return STATE_PRECHARGE;
} }
@ -76,9 +74,9 @@ State sm_update_precharge(){
State sm_update_ready(){ State sm_update_ready(){
switch (state.target_state) { switch (state.target_state) {
case STATE_ACTIVE: case STATE_ACTIVE: // if CAN Signal 1100 0000 then turn on powerground
return STATE_ACTIVE; return STATE_ACTIVE;
case STATE_DISCHARGE: case STATE_DISCHARGE: // if CAN Signal 0000 0000 then shutdown
return STATE_DISCHARGE; return STATE_DISCHARGE;
default: default:
return STATE_READY; return STATE_READY;
@ -87,9 +85,9 @@ State sm_update_ready(){
State sm_update_active(){ State sm_update_active(){
switch (state.target_state) { switch (state.target_state) {
case STATE_READY: case STATE_READY: // if CAN Signal 1000 0000 then turn oof powerground but stay ready
return STATE_READY; return STATE_READY;
case STATE_DISCHARGE: case STATE_DISCHARGE: // if CAN Signal 0000 0000 then shutdown
return STATE_DISCHARGE; return STATE_DISCHARGE;
default: default:
return STATE_ACTIVE; return STATE_ACTIVE;
@ -99,18 +97,28 @@ State sm_update_active(){
State sm_update_discharge(){ State sm_update_discharge(){
switch (state.target_state) { switch (state.target_state) {
case STATE_INACTIVE: case STATE_INACTIVE:
if (RELAY_ESC_SIDE_VOLTAGE == 0)
return STATE_INACTIVE; return STATE_INACTIVE;
case STATE_PRECHARGE: case STATE_PRECHARGE: // if CAN Signal 1000 0000 then get ready
return STATE_PRECHARGE; return STATE_PRECHARGE;
default: default:
return STATE_DISCHARGE; return STATE_DISCHARGE;
} }
} }
State sm_update_charging_precharge(){
switch (state.target_state) {
case STATE_CHARGING:
return STATE_CHARGING;
case STATE_DISCHARGE:
return STATE_DISCHARGE;
default:
return STATE_CHARGING_PRECHARGE;
}
}
State sm_update_charging(){ State sm_update_charging(){
switch (state.target_state) { switch (state.target_state) {
case STATE_INACTIVE:
return STATE_INACTIVE;
case STATE_DISCHARGE: case STATE_DISCHARGE:
return STATE_DISCHARGE; return STATE_DISCHARGE;
default: default:
@ -118,10 +126,9 @@ State sm_update_charging(){
} }
} }
State sm_update_error(){ State sm_update_error(){
switch (state.target_state) { switch (state.target_state) {
case STATE_INACTIVE:
return STATE_INACTIVE;
case STATE_DISCHARGE: case STATE_DISCHARGE:
return STATE_DISCHARGE; return STATE_DISCHARGE;
default: default:
@ -148,7 +155,7 @@ void sm_set_relay_positions(State current_state){
sm_set_relay(RELAY_PRECHARGE, 0); sm_set_relay(RELAY_PRECHARGE, 0);
case STATE_DISCHARGE: case STATE_DISCHARGE:
sm_set_relay(RELAY_MAIN, 0); sm_set_relay(RELAY_MAIN, 0);
sm_set_relay(RELAY_PRECHARGE, 1); sm_set_relay(RELAY_PRECHARGE, 0);
break; break;
case STATE_CHARGING: case STATE_CHARGING:
sm_set_relay(RELAY_MAIN, 1); sm_set_relay(RELAY_MAIN, 1);
@ -156,6 +163,7 @@ void sm_set_relay_positions(State current_state){
break; break;
case STATE_ERROR: case STATE_ERROR:
sm_set_relay(RELAY_MAIN, 0); sm_set_relay(RELAY_MAIN, 0);
sm_set_relay(RELAY_PRECHARGE, 0);
break; break;
} }
} }
@ -174,14 +182,46 @@ void sm_set_relay(Relay relay, bool closed){
} }
} }
void sm_handle_ams_in(){
uint8_t data[2] = {};
can_handle_recieve_command(&data);
switch (data[0]) {
case 0b00000000:
if (state.current_state != STATE_INACTIVE){
PWM_powerground_control(0);
state.target_state = STATE_DISCHARGE;
}
break;
case 0b10000000:
if (state.target_state == STATE_INACTIVE || state.target_state == STATE_DISCHARGE){
PWM_powerground_control(0);
state.target_state = STATE_PRECHARGE;
} else if (state.target_state == STATE_ACTIVE){
PWM_powerground_control(0);
state.target_state = STATE_READY;
}
break;
case 0b11000000:
PWM_powerground_control(data[1]);
state.target_state = STATE_ACTIVE; // READY -> ACTIVE
break;
}
}
void sm_check_precharge_discharge(bool *is_closed, bool should_close){} void sm_set_error(ErrorKind error_kind, bool is_errored){}
// 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
void sm_handle_ams_in(const uint8_t *data){} void sm_check_errors(){
if (module.status.THSD == 1) {
state.error_type.bms_overtemp = 1;
}
if (RELAY_BAT_SIDE_VOLTAGE < 40){
state.error_source = (1 << 10);
}
}
void sm_set_error(ErrorKind error_kind, bool is_errored); void sm_charging_check(){
if (RELAY_BAT_SIDE_VOLTAGE < RELAY_ESC_SIDE_VOLTAGE && timestamp == 0)
void sm_check_errors(){} timestamp = HAL_GetTick() + 5000;
if (timestamp < HAL_GetTick())
state.target_state = STATE_CHARGING_PRECHARGE;
}

86
Documentation/State machine diagram.drawio
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@ -1,15 +1,15 @@
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@ -20,7 +20,7 @@
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@ -30,14 +30,14 @@
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@ -49,7 +49,7 @@
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@ -59,13 +59,13 @@
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@ -76,21 +76,20 @@
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