steering-wheel/Core/Inc/vehicle_state.h

157 lines
2.8 KiB
C

#ifndef __INC_VEHICLE_STATE_H
#define __INC_VEHICLE_STATE_H
#ifdef __cplusplus
extern "C" {
#endif
#include "stw_defines.h"
#include <stdint.h>
typedef enum {
TS_INACTIVE = 0,
TS_ACTIVE = 1,
TS_PRECHARGE = 2,
TS_DISCHARGE = 3,
TS_ERROR = 4,
TS_CHARGING_CHECK = 5,
TS_CHARGING = 6
} TSState;
typedef enum {
AS_OFF = 0,
AS_MANUAL = 1,
AS_READY = 2,
AS_DRIVING = 3,
AS_FINISHED = 4,
AS_EMERGENCY = 5
} ASState;
typedef enum {
R2D_NONE = 0,
R2D_TSMS = 1,
R2D_TSACTIVE = 2,
R2D_RESETTING_NODES = 3,
R2D_RESETTING_COMMS = 4,
R2D_WAITING_INIT = 5,
R2D_INIT_STAGE1 = 6,
R2D_INIT_STAGE2 = 7,
R2D_INIT_SUCCESS = 0xF
} R2DProgress;
typedef enum {
INICHK_START = 0,
INICHK_WD_CHECK = 1,
INICHK_WD_OK = 2,
INICHK_ASB_CHECK_1 = 3,
INICHK_ASB_CHECK_2 = 4,
INICHK_WAIT_TS = 5,
INICHK_EBS_CHECK_A = 6,
INICHK_EBS_CHECK_B = 7,
INICHK_DONE = 8,
INICHK_ERROR = 9
} IniChkState;
typedef enum {
AMS_ERROR_NONE = 0x00,
AMS_ERROR_SLAVE_TIMEOUT = 0x01,
AMS_ERROR_SLAVE_PANIC = 0x02,
AMS_ERROR_SHUNT_TIMEOUT = 0x03,
AMS_ERROR_SHUNT_OVERCURRENT = 0x04,
AMS_ERROR_SHUNT_OVERTEMP = 0x05
} AMSErrorKind;
typedef enum {
AMS_SLAVEPANIC_OVERTEMP = 0x00,
AMS_SLAVEPANIC_UNDERTEMP = 0x01,
AMS_SLAVEPANIC_OVERVOLTAGE = 0x02,
AMS_SLAVEPANIC_UNDERVOLTAGE = 0x03,
AMS_SLAVEPANIC_TOO_FEW_TEMP = 0x04,
AMS_SLAVEPANIC_OPENWIRE = 0x05
} AMSSlavePanicKind;
typedef struct {
float tire_fl;
float tire_fr;
float tire_rl;
float tire_rr;
float brake_fl;
float brake_fr;
float brake_rl;
float brake_rr;
float inv_l;
float inv_r;
float mot_l;
float mot_r;
float bat_l;
float bat_r;
} Temperatures;
typedef struct {
TSState ts_state;
ASState as_state;
Mission active_mission;
int sdc_closed;
R2DProgress r2d_progress;
struct {
int invl_ready : 1;
int invr_ready : 1;
int sdc_bfl : 1;
int sdc_brl : 1;
int sdc_acc : 1;
int sdc_hvb : 1;
int err_sdc : 1;
int err_ams : 1;
int err_pdu : 1;
int err_ini_chk : 1;
int err_con_mon : 1;
int err_scs : 1;
int err_sbspd : 1;
int err_appsp : 1;
int err_as : 1;
int err_ros : 1;
int err_res : 1;
int err_invl : 1;
int err_invr : 1;
} errors;
struct {
AMSErrorKind kind;
uint8_t arg;
} last_ams_error;
struct {
uint8_t id;
AMSSlavePanicKind kind;
uint32_t arg;
} last_ams_slave_panic;
IniChkState ini_chk_state;
unsigned lap_count;
Temperatures temps;
float min_cell_volt;
float max_cell_temp;
int soc;
float ts_current;
float ts_voltage_bat;
float ts_voltage_veh;
float speed;
float brake_press_f;
float brake_press_r;
float distance_total;
} VehicleState;
extern VehicleState vehicle_state;
#ifdef __cplusplus
} // extern "C"
#endif
#endif // __INC_VEHICLE_STATE_H