steering-wheel/Core/Inc/vehicle_state.h

#ifndef __INC_VEHICLE_STATE_H
#define __INC_VEHICLE_STATE_H

#ifdef __cplusplus
extern "C" {
#endif

#include "params.h"
#include "stw_defines.h"
#include <stdbool.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_SDC_CLOSED = 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 {
  SDC_OFF = 0,
  SDC_PDU_OK = 1, //
  SDC_RES_OK = 2,
  SDC_AMS_OK = 3,
  SDC_IMD_OK = 4,
  SDC_BOTS_OK = 5,
  SDC_SDB_DB_OK = 6, // shut down button dashboard
  SDC_IS_OK = 7,
  SDC_BSPD_OK = 8,
  SDC_SDB_L_OK = 9,
  SDC_SDB_R_OK = 10,
  SDC_TSMS_OK = 11,
  SDC_HVD_OK = 12,
} SDCStatus;

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,
} InitialCheckupState;

const char *inichkstate_str(InitialCheckupState state);

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 {
  AMSErrorKind kind;
  uint8_t arg;
} AMSError;

typedef struct {
  float wss_fl; // in km/h
  float wss_fr; // in km/h
  float wss_rl; // in km/h
  float wss_rr; // in km/h
} WheelSpeeds;

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_1;
  float inv_2;
  float mot_1;
  float mot_2;
} Temperatures;

typedef struct {
  uint16_t x;
  uint16_t y;
} ConePosition;

typedef struct {
  // AMS / TS system
  struct {
    uint8_t id;
    AMSSlavePanicKind kind;
    uint32_t arg;
  } last_ams_slave_panic;
  TSState ts_state;
  bool sdc_closed;
  uint8_t soc_ts;
  float min_cell_volt; // in V
  float max_cell_temp; // in °C
  bool imd_ok;         // latest IMD measurement
  bool tsal_green;
  bool imd_error; // latched imd error
  bool ams_error; // latched ams error

  AMSError last_ams_error;

  // dcdc temp not in temps because temps only contains temperatures with multiple instances
  float dcdc_temp;    // in °C
  float dcdc_current; // in A

  float ts_current;        // in A
  float ts_voltage_bat;    // in V
  float ts_voltage_veh;    // in V
  float shunt_temperature; // in °C

  Temperatures temps;

  float lap_time_best;    // in s
  float lap_time_last;    // in s
  float sector_time_best; // in s
  float sector_time_last; // in s

  WheelSpeeds wheel_speeds;  // all in km/h
  uint16_t distance_session; // in m

  float tank_pressure_1;
  float tank_pressure_2;

  float lv_voltage;
  float lv_soc;

  uint8_t apps_percent;
  float brake_pressure_f;
  float brake_pressure_r;
  int8_t steering_angle;
  float speed; // in m/s
  uint8_t lap_count;
  uint8_t sector_count;

  R2DProgress r2d_progress;
  struct {
    bool err_pdu : 1;
    bool err_res : 1;
    bool err_as : 1;
    bool err_apps_plausible : 1;
    bool err_soft_bspd : 1;
    bool err_scs : 1;             // system critical signals
    bool err_con_mon : 1;         // continuous monitoring of autonomous system
    bool err_initial_checkup : 1; // initial checkup
    bool err_inv_1 : 1;
    bool err_inv_2 : 1;
    bool err_ams : 1;
    bool err_sdc : 1; // sdc err = not closed
  } errors;
  SDCStatus sdc_status;
  bool inv_1_ready;
  bool inv_2_ready;
  float energy_per_lap;
  InitialCheckupState initial_checkup_state;

  // autonomous system
  Mission active_mission;
  ASState as_state;

  float inv_velocity_1;
  float inv_velocity_2;

  int16_t inv_torque_demanded_1;
  int16_t inv_torque_demanded_2;
  int16_t inv_torque_desired_1;
  int16_t inv_torque_desired_2;

  uint16_t inv_control_word_1;
  uint16_t inv_control_word_2;
  int16_t inv_torque_actual_1;
  int16_t inv_torque_actual_2;

  uint16_t inv_errors_1;
  uint16_t inv_errors_2;
  uint16_t inv_warnings_1;
  uint16_t inv_warnings_2;

  ParamType last_param_confirmed;

  uint8_t drs_led_active;
} VehicleState;

extern VehicleState vehicle_state;

#ifdef __cplusplus
} // extern "C"
#endif

#endif // __INC_VEHICLE_STATE_H