95 lines
3.0 KiB
C
95 lines
3.0 KiB
C
#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 "TMP1075.h"
|
|
#include <math.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
|
|
// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
|
|
#define PRECHARGE_95_DURATION 0 // ms
|
|
// Time to wait for discharge
|
|
#define DISCHARGE_DURATION 5000 // ms
|
|
// Time to wait after there is no more error condition before exiting TS_ERROR
|
|
#define NO_ERROR_TIME 1000 // ms
|
|
// Time to wait for charger voltage before going to TS_ERROR
|
|
#define MAX_CHARGING_CHECK_DURATION 2000 // ms
|
|
// Time to wait between closing relays
|
|
#define RELAY_CLOSE_WAIT 10 // ms
|
|
|
|
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_overtemp : 1;
|
|
uint16_t bms_fault : 1;
|
|
|
|
uint16_t temperature_error : 1;
|
|
uint16_t current_error : 1;
|
|
uint16_t voltage_error : 1;
|
|
|
|
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_transition_fail : 1;
|
|
} ErrorKind;
|
|
|
|
//typedef enum {} WarningKind;
|
|
|
|
typedef struct {
|
|
State current_state;
|
|
State target_state;
|
|
uint16_t error_source; // TSErrorSource (bitmask)
|
|
ErrorKind error_type; // TSErrorKind
|
|
} StateHandle;
|
|
|
|
extern StateHandle state;
|
|
static bool relay_closed = 0;
|
|
static bool precharge_closed = 0;
|
|
static int16_t RELAY_BAT_SIDE_VOLTAGE;
|
|
static int16_t RELAY_ESC_SIDE_VOLTAGE;
|
|
static int16_t CURRENT_MEASUREMENT;
|
|
|
|
void sm_init();
|
|
void sm_update();
|
|
|
|
State sm_update_inactive();
|
|
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_charging();
|
|
void sm_check_cell_temps(int8_t* id, int16_t* temp);
|
|
|
|
void sm_handle_ams_in(const uint8 *data);
|
|
void sm_check_errors();
|
|
void sm_set_error(ErrorKind error_kind, bool is_errored);
|
|
|
|
void sm_test_cycle_states();
|
|
|
|
#endif /* "INC_STATE_MACHINE_H" */ |