195 lines
3.5 KiB
C
195 lines
3.5 KiB
C
#ifndef __INC_VEHICLE_STATE_H
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#define __INC_VEHICLE_STATE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "params.h"
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#include "stw_defines.h"
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#include <stdint.h>
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#define NUM_CONES 12
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typedef enum {
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TS_INACTIVE = 0,
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TS_ACTIVE = 1,
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TS_PRECHARGE = 2,
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TS_DISCHARGE = 3,
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TS_ERROR = 4,
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TS_CHARGING_CHECK = 5,
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TS_CHARGING = 6
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} TSState;
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typedef enum {
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AS_OFF = 0,
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AS_MANUAL = 1,
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AS_READY = 2,
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AS_DRIVING = 3,
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AS_FINISHED = 4,
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AS_EMERGENCY = 5
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} ASState;
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typedef enum {
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R2D_NONE = 0,
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R2D_TSMS = 1,
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R2D_TSACTIVE = 2,
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R2D_RESETTING_NODES = 3,
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R2D_RESETTING_COMMS = 4,
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R2D_WAITING_INIT = 5,
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R2D_INIT_STAGE1 = 6,
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R2D_INIT_STAGE2 = 7,
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R2D_INIT_SUCCESS = 0xF
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} R2DProgress;
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typedef enum {
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INICHK_START = 0,
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INICHK_WD_CHECK = 1,
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INICHK_WD_OK = 2,
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INICHK_POS_CHK_1 = 3,
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INICHK_ASB_CHECK_A_1 = 4,
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INICHK_ASB_CHECK_A_2 = 5,
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INICHK_SWITCH_B = 6,
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INICHK_ASB_CHECK_B_1 = 7,
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INICHK_ASB_CHECK_B_2 = 8,
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INICHK_SWITCH_A = 9,
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INICHK_ASB_CHECK_AB_1 = 10,
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INICHK_ASB_CHECK_AB_2 = 11,
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INICHK_POS_CHK_2 = 12,
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INICHK_WAIT_TS = 13,
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INICHK_DONE = 14,
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INICHK_ERROR = 15
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} IniChkState;
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const char *inichkstate_str(IniChkState state);
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typedef enum {
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AMS_ERROR_NONE = 0x00,
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AMS_ERROR_SLAVE_TIMEOUT = 0x01,
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AMS_ERROR_SLAVE_PANIC = 0x02,
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AMS_ERROR_SHUNT_TIMEOUT = 0x03,
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AMS_ERROR_SHUNT_OVERCURRENT = 0x04,
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AMS_ERROR_SHUNT_OVERTEMP = 0x05
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} AMSErrorKind;
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typedef enum {
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AMS_SLAVEPANIC_OVERTEMP = 0x00,
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AMS_SLAVEPANIC_UNDERTEMP = 0x01,
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AMS_SLAVEPANIC_OVERVOLTAGE = 0x02,
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AMS_SLAVEPANIC_UNDERVOLTAGE = 0x03,
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AMS_SLAVEPANIC_TOO_FEW_TEMP = 0x04,
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AMS_SLAVEPANIC_OPENWIRE = 0x05
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} AMSSlavePanicKind;
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typedef struct {
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float tire_fl;
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float tire_fr;
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float tire_rl;
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float tire_rr;
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float brake_fl;
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float brake_fr;
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float brake_rl;
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float brake_rr;
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float inv_l;
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float inv_r;
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float mot_l;
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float mot_r;
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float bat_l;
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float bat_r;
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} Temperatures;
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typedef struct {
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uint16_t x;
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uint16_t y;
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} ConePosition;
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typedef struct {
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TSState ts_state;
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ASState as_state;
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Mission active_mission;
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int sdc_closed;
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int pdu_sdc_active;
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int imd_ok;
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int sdcl_state[3];
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R2DProgress r2d_progress;
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struct {
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int invl_ready : 1;
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int invr_ready : 1;
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int sdc_bfl : 1;
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int sdc_brl : 1;
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int sdc_acc : 1;
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int sdc_hvb : 1;
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int err_sdc : 1;
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int err_ams : 1;
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int err_pdu : 1;
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int err_ini_chk : 1;
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int err_con_mon : 1;
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int err_scs : 1;
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int err_sbspd : 1;
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int err_appsp : 1;
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int err_as : 1;
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int err_ros : 1;
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int err_res : 1;
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int err_invl : 1;
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int err_invr : 1;
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} errors;
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struct {
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AMSErrorKind kind;
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uint8_t arg;
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} last_ams_error;
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struct {
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uint8_t id;
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AMSSlavePanicKind kind;
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uint32_t arg;
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} last_ams_slave_panic;
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IniChkState ini_chk_state;
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unsigned lap_count;
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float lap_last;
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float lap_best;
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Temperatures temps;
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float min_cell_volt;
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float max_cell_temp;
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int soc_ts;
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float lv_bat_voltage;
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int soc_lv;
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float ts_current;
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float ts_voltage_bat;
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float ts_voltage_veh;
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float speed;
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float brake_press_f;
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float brake_press_r;
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float hyd_press_a;
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float hyd_press_b;
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float distance_total;
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uint32_t last_jetson_msg;
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uint32_t last_epsc_msg;
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int as_ok;
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float desired_angle;
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float measured_angle;
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float desired_speed;
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ConePosition cone_pos[NUM_CONES];
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ParamType last_param_confirmed;
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} VehicleState;
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extern VehicleState vehicle_state;
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#endif // __INC_VEHICLE_STATE_H
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