ECU state machine

ECU/Application/Inc/StateData.h

@@ -19,27 +19,48 @@
  * logic to access and modify the ECU's operational data.
  */
 typedef struct ECU_StateData {
-	// DON'T TOUCH YET
-	GR_OLD_ECU_STATUS_1_MSG ecuStatus1;
-	GR_OLD_ECU_STATUS_2_MSG ecuStatus2;
-	GR_OLD_ECU_STATUS_3_MSG ecuStatus3;
 
+	// TODO: Remove unneeded states
 	int32_t dischargeStartMillis;
 	uint32_t lastECUStatusMsgTick;
 	uint32_t lastTSSIFlash;
 	int32_t last_drive_active_control_ms;
+
 	float min_amk_heat_cap_throttle_percent;
+	float ts_voltage;
+	float max_cell_temp; /** Temperature of hottest cell, celsius */
+
+	float vehicle_speed; /** Vehicle speed, MPH */
+	float fr_wheel_rpm;  /** FR wheel, RPM */
+	float fl_wheel_rpm;  /** FL wheel, RPM */
+	float rr_wheel_rpm;  /** RRv wheel, RPM */
+	float rl_wheel_rpm;  /** RL wheel, RPM */
+
+	// 0.5V when things go to shit (X_OK low)
+	// 3V when things almost poggers (X_OK high but SDC not reset)
+	// 2.4V when things are actually poggers (X_OK high and SDC is not triggered)
+	float ams_sense;
+	float imd_sense;
+	float bspd_sense;
+
+	float estop_sense;
 	uint16_t driving_heat_capacity_1;
 	uint16_t driving_heat_capacity_2;
 	uint16_t APPS1_Signal;
 	uint16_t APPS2_Signal;
 	uint16_t Brake_R_Signal;
 	uint16_t Brake_F_Signal;
+	uint16_t STEERING_ANGLE_SIGNAL;
+	int8_t ping_block[3];	      /** Node timeout status bits (1=OK, 0=Timeout) */
+	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
+	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
+	uint8_t glv_soc;	      /** GLV SoC, 20x/51=% */
 	uint8_t acu_error_warning_bits;
 	uint8_t inverter_fault_map;
 	bool bse_apps_violation;
 	bool ts_active_button_engaged;
 	bool rtd_button_engaged;
+	GR_ECU_State ecu_state;
 } ECU_StateData; // FIXME Add comments to each data field with descriptions and
 		 // rules (eg -1 = invalid?, etc)
 		 // Will also need to add information from ADC into this struct

ECU/Application/Inc/StateTicks.h

@@ -22,7 +22,7 @@ void ECU_State_Tick(void);
  *
  * @return void
  */
-void ECU_GLV_Off(ECU_StateData *stateData);
+void ECU_GLV_Off(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the GLV On state.
@@ -33,7 +33,7 @@ void ECU_GLV_Off(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_GLV_On(ECU_StateData *stateData);
+void ECU_GLV_On(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the Precharge Engaged state.
@@ -44,7 +44,7 @@ void ECU_GLV_On(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Precharge_Engaged(ECU_StateData *stateData);
+void ECU_Precharge_Engaged(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the Precharge Complete state.
@@ -55,7 +55,7 @@ void ECU_Precharge_Engaged(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Precharge_Complete(ECU_StateData *stateData);
+void ECU_Precharge_Complete(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the Precharge Fault state.
@@ -66,7 +66,19 @@ void ECU_Precharge_Complete(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Drive_Active(ECU_StateData *stateData);
+void ECU_Drive_Active(volatile ECU_StateData *stateData);
+
+/**
+ * @brief Init function for ECU_Tractive_System_Discharge_Start.
+ *
+ * Resets Tractive System discharge timer and switches on the Tractive System
+ * Discharge state.
+ *
+ * @param stateData Pointer to the ECU state data structure.
+ *
+ * @return void
+ */
+void ECU_Tractive_System_Discharge_Start(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the Tractive System Discharge state.
@@ -78,6 +90,6 @@ void ECU_Drive_Active(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Tractive_System_Discharge(ECU_StateData *stateData);
+void ECU_Tractive_System_Discharge(volatile ECU_StateData *stateData);
 
 #endif

ECU/Application/Inc/StateUtils.h

@@ -20,11 +20,11 @@
 #define APPS_OFFSET 250.0f   // TODO: Need to be experimentally determined
 
 // Checks stateData for critical errors
-bool CriticalError(const ECU_StateData *stateData);
-bool CommunicationError(const ECU_StateData *stateData);
-bool APPS_BSE_Violation(const ECU_StateData *stateData);
-bool PressingBrake(const ECU_StateData *stateData);
-float CalcBrakePercent(const ECU_StateData *stateData);
-float CalcPedalTravel(const ECU_StateData *stateData);
+bool CriticalError(volatile const ECU_StateData *stateData);
+bool CommunicationError(volatile const ECU_StateData *stateData);
+bool APPS_BSE_Violation(volatile const ECU_StateData *stateData);
+bool PressingBrake(volatile const ECU_StateData *stateData);
+float CalcBrakePercent(volatile const ECU_StateData *stateData);
+float CalcPedalTravel(volatile const ECU_StateData *stateData);
 
 #endif

ECU/Application/Src/StateTicks.c

@@ -14,13 +14,21 @@
  *
  * @remark Intentionally not a globally accessible variable
  */
-ECU_StateData stateLump = {0};
+volatile ECU_StateData stateLump = {0};
+
+#define ECU_STATUS_MSG_PERIOD (100)
+#define TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME (10000) // TODO: determine an appropriate wait time
 
 void ECU_State_Tick(void)
 {
-	LOGOMATIC("ECU Current State: %d\n", stateLump.ecuStatus1.ecu_status);
+	if (stateLump.lastECUStatusMsgTick >= ECU_STATUS_MSG_PERIOD) {
+		LOGOMATIC("ECU Current State: %d\n", stateLump.ecu_state);
+		stateLump.lastECUStatusMsgTick = 0;
+	} else {
+		stateLump.lastECUStatusMsgTick++;
+	}
 
-	switch (stateLump.ecuStatus1.ecu_status) {
+	switch (stateLump.ecu_state) {
 		case GR_GLV_OFF:
 			ECU_GLV_Off(&stateLump);
 			break;
@@ -40,9 +48,9 @@ void ECU_State_Tick(void)
 			ECU_Tractive_System_Discharge(&stateLump);
 			break;
 		default:
-			LOGOMATIC("ECU Current State Unknown: %d\n", stateLump.ecuStatus1.ecu_status);
+			LOGOMATIC("ECU Current State Unknown: %d\n", stateLump.ecu_state);
 			LOGOMATIC("ECU: Resetting to GLV On\n");
-			stateLump.ecuStatus1.ecu_status = GR_GLV_ON;
+			stateLump.ecu_state = GR_GLV_ON;
 			break;
 	}
 }
@@ -54,52 +62,46 @@ transitioning state
 
 */
 
-void ECU_GLV_Off(ECU_StateData *stateData)
+void ECU_GLV_Off(volatile ECU_StateData *stateData)
 {
 	UNUSED(stateData);
 	// TODO Implement functionality
 	// ERROR --> GLV_OFF should never be reached
 }
 
-void ECU_GLV_On(ECU_StateData *stateData)
+void ECU_GLV_On(volatile ECU_StateData *stateData)
 {
-	UNUSED(stateData);
-	/*
-	if(stateData->TractiveSystemVoltage >= 60){ // should never happen but
-	has to be accounted for stateData->currentState = GR_TS_DISCHARGE;
-		emit an error
-		break;
+	if (stateData->ts_voltage >= 60) { // should never happen but has to be accounted for
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
+		return;
 	}
-	*/
 
 	// TODO Implement functionality
 	if (stateData->ts_active_button_engaged) {
-		stateData->ecuStatus1.ecu_status = GR_PRECHARGE_ENGAGED;
+		stateData->ecu_state = GR_PRECHARGE_ENGAGED;
 	}
 }
 
-void ECU_Precharge_Engaged(ECU_StateData *stateData)
+void ECU_Precharge_Engaged(volatile ECU_StateData *stateData)
 {
-	UNUSED(stateData);
-	if (stateData->ecuStatus2.ts_voltage > 60) {
-		// Go to TS discharge
-		stateData->ecuStatus1.ecu_status = GR_TS_DISCHARGE;
-		// Emit an error
+	if (stateData->ts_voltage >= 60) {
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
 		return;
 	}
 	// TODO Implement functionality
-	/*if(not TS Active || Communication Error (CAN)){
-		stateData->currentState = GR_TS_DISCHARGE
-		break;
-	}*/
+	if (!stateData->ts_active_button_engaged || CommunicationError(stateData)) {
+		ECU_Tractive_System_Discharge_Start(stateData);
+		return;
+	}
 	/*if(1 Isolation relay close && second isolation relay close){ --> CAN!
 		stateData->currentState = GR_PRECHARGE_COMPLETE
 	}*/
 }
 
-void ECU_Precharge_Complete(ECU_StateData *stateData)
+void ECU_Precharge_Complete(volatile ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality
 	/*
 		On but idle
@@ -111,7 +113,7 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	if (TS pressed or critical error) {
 		stateData->currentState = GR_TS_DISCHARGE
 		emit error
-		break;
+		return;
 	}
 	*/
 	/*
@@ -121,11 +123,19 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	*/
 
 	// Pseudocode
+	if (stateData->ts_active_button_engaged || CriticalError(stateData)) {
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
+		return;
+	}
+
+	if (PressingBrake(stateData) && stateData->rtd_button_engaged) {
+		stateData->ecu_state = GR_DRIVE_ACTIVE;
+	}
 }
 
-void ECU_Drive_Active(ECU_StateData *stateData)
+void ECU_Drive_Active(volatile ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality
 	/*
 		If APPS/BSE Violation --> Don't drive until resolved (no state
@@ -151,21 +161,51 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		 - calcPedalTravel func :p
 		 - make tuna-ble function
 	*/
+
+	if (!stateData->ts_active_button_engaged || CriticalError(stateData)) {
+		ECU_Tractive_System_Discharge_Start(stateData);
+		return;
+	}
+
+	if (!stateData->rtd_button_engaged) {
+		stateData->ecu_state = GR_PRECHARGE_COMPLETE;
+		// emit a warning if not moving
+		return;
+	}
 }
 
-void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
+void ECU_Tractive_System_Discharge_Start(volatile ECU_StateData *stateData)
+{
+	stateData->ecu_state = GR_TS_DISCHARGE;
+	LOGOMATIC("tell the BCU to discharge TS");
+	stateData->dischargeStartMillis = 0;
+}
+
+void ECU_Tractive_System_Discharge(volatile ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality of state itself
 	/*
 		Discharge the tractive system to below 60 volts
 		If TS voltage < 60 --> stateData->GLV_ON
 	*/
-	if (stateData->ecuStatus2.ts_voltage < 60) {
-		stateData->ecuStatus1.ecu_status = GR_GLV_ON;
+	// TODO: Discharge TC through CAN
+	LOGOMATIC("CAN: please discharge the Tractive System");
+	if (stateData->ts_voltage < 60) {
+		stateData->ecu_state = GR_GLV_ON;
+		stateData->dischargeStartMillis = 0;
+		return;
 	}
 	/*
 		If TS fails to discharge over time then stay and emit a warning,
 	   see #129
 	*/
+	// TODO: Determine the maximum time to wait for TC to discharge.
+	if (stateData->dischargeStartMillis > TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME) {
+		// TODO: Research appropriate ways to buffer warning messages.
+		LOGOMATIC("Tractive System fails to discharge in time.");
+	}
+
+	if (stateData->dischargeStartMillis < INT32_MAX) {
+		stateData->dischargeStartMillis++;
+	}
 }