96 lines
3.0 KiB
C
96 lines
3.0 KiB
C
#ifndef INC_STATE_MACHINE_H
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#define INC_STATE_MACHINE_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "ADBMS_LL_Driver.h"
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#include "AMS_HighLevel.h"
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#include "errors.h"
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#include "PWM_control.h"
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#include "TMP1075.h"
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#include <math.h>
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// Minimum vehicle side voltage to exit precharge
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#define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV
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// Time to wait after reaching 95% of battery voltage before exiting precharge
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// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
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#define PRECHARGE_95_DURATION 0 // ms
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// Time to wait for discharge
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#define DISCHARGE_DURATION 5000 // ms
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// Time to wait after there is no more error condition before exiting TS_ERROR
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#define NO_ERROR_TIME 1000 // ms
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// Time to wait for charger voltage before going to TS_ERROR
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#define MAX_CHARGING_CHECK_DURATION 2000 // ms
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// Time to wait between closing relays
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#define RELAY_CLOSE_WAIT 10 // ms
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#warning
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typedef enum { // states -> 3 bit. valid transitions: (all could transition to error)
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STATE_INACTIVE, // INACTIVE -> PRECHARGE, CHARGING, ERROR
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STATE_PRECHARGE, // PRECHARGE -> INACTIVE, READY, DISCHARGE, ERROR
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STATE_READY, // READY -> ACTIVE, DISCHARGE, ERROR
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STATE_ACTIVE, // ACTIVE -> READY, DISCHARGE, ERROR
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STATE_DISCHARGE, // DISCHARGE -> INACTIVE, PRECHARGE, ERROR
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STATE_CHARGING_PRECHARGE,
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STATE_CHARGING, // CHARGING -> INACTIVE, DISCHARGE, ERROR
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STATE_ERROR, // ERROR -> INACTIVE, DISCHARGE, ERROR
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} State;
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typedef struct {
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uint16_t bms_timeout : 1;
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uint16_t bms_fault : 1;
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uint16_t temperature_error : 1;
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uint16_t current_error : 1;
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uint16_t current_sensor_missing : 1;
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uint16_t voltage_error : 1;
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uint16_t voltage_missing : 1;
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uint16_t state_transition_fail : 1;
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} ErrorKind;
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//typedef enum {} WarningKind;
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typedef struct {
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State current_state;
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State target_state;
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uint16_t error_source; // TSErrorSource (bitmask)
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ErrorKind error_type; // TSErrorKind
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} StateHandle;
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extern StateHandle state;
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static bool relay_closed = 0;
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static bool precharge_closed = 0;
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extern int16_t RELAY_BAT_SIDE_VOLTAGE;
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extern int16_t RELAY_ESC_SIDE_VOLTAGE;
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extern int16_t CURRENT_MEASUREMENT;
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extern uint8_t powerground_status;
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void sm_init();
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void sm_update();
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State sm_update_inactive();
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State sm_update_precharge();
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State sm_update_ready();
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State sm_update_active();
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State sm_update_discharge();
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State sm_update_charging_precharge();
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State sm_update_charging();
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State sm_update_error();
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typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
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void sm_set_relay_positions(State state);
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void sm_set_relay(Relay relay, bool closed);
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void sm_check_charging();
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void sm_check_battery_temperature(int8_t* id, int16_t* temp);
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int16_t sm_return_cell_temperature(int id);
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int16_t sm_return_cell_voltage(int id);
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void sm_handle_ams_in(const uint8 *data);
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void sm_check_errors();
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void sm_set_error(ErrorKind error_kind, bool is_errored);
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void sm_test_cycle_states();
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#endif /* "INC_STATE_MACHINE_H" */ |