state.c File Reference

Car state machine. More...

#include "state.h"
#include <stdint.h>
#include <stdbool.h>
#include <math.h>
#include <stdlib.h>
#include <sys/types.h>
#include "can_rtos.h"
#include "can.h"
#include "can_1.h"
#include "can_2.h"
#include "constants.h"
#include "main.h"
#include "types.h"
#include "rtos.h"
#include "iem_utils.h"

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Data Structures
struct	apps

Macros
#define	TIMER_RTDS_MS   3000
#define	TIMER_BLINK_LED_MIN   500
#define	TIMER_BLINK_LED_RANGE   2000
#define	TIMER_RTDS_NAME   "tim_rtds"
#define	FAULT_ACTIVE   true
#define	HV_CONNECTED_ACTIVE   false
#define	SHUTDOWN_CLOSED_ACTIVE   false
#define	TSSI_CTRL_RED   true
#define	TSSI_IMD_CLEAR_WINDOW   pdMS_TO_TICKS(3000)
#define	BRAKE_THRESHOLD_PSI   70.0F
#define	BP_FRONT_OFFSET   -32.0F
#define	BP_REAR_OFFSET   0.0F
#define	APPS_DEVIATION_THRESH   10.0F
#define	SOFT_FAULT_TIME_MS   100
#define	APPS_MIN_THRESH   -50.0F
#define	APPS_MAX_THRESH   50.0F
#define	BTSF_APPS_ACTV_THRESH   25.0F
#define	BTSF_APPS_DEACTV_THRESH   5.0F
#define	BTSF_EMA_DENOM   5
#define	BPS_SHORT_THRESH   (uint16_t)((0.3F * (3.0F / 5.0F)) * (65535.0F / 3.3F))
#define	BPS_OPEN_THRESH   (uint16_t)((4.7F * (3.0F / 5.0F)) * (65535.0F / 3.3F))
#define	PUMP_ON_DUTY_CYCLE   0xFF
#define	PUMP_OFF_DUTY_CYCLE   0x10

Functions
static __always_inline float	brake_raw_to_pressure_r (uint16_t raw)
static __always_inline float	brake_raw_to_pressure_f (uint16_t raw)
static __always_inline float	bspd_raw_to_current (float cs_raw, float ref_raw)
static __always_inline float	lv_batt_raw_to_voltage (float raw)
struct	__aligned (4)
static void	task_state (void *task_params_ptr)
	Implements the state machine task.
static void	car_state_machine (union car_flags *flags_ptr, TimerHandle_t timer_rtds_hdl)
	Car state machine.
static enum btsf_fault	check_btsf (bool brake_pressed, uint16_t bps_raw, float throttle_pos)
	Checks for a BTSF fault.
static enum apps_fault	check_apps (struct apps *apps_ptr)
	Checks for an APPS soft fault.
static void	read_gpio (union car_flags *flags_ptr)
	Polls GPIO fault and status pins for state machine inputs. This function accounts for pin active levels - that is, "true" in the flags struct indicates that the pin is in its active state whether the active state is high or low.
static void	timer_rtds_callback (TimerHandle_t timer_hdl)
	RTDS FreeRTOS timer callback. Timer created in and started in car_state_machine when entering the RTDS state.
static void	timer_blink_led_callback (TimerHandle_t timer_hdl)
	Very important functionality.
static void	log_car_status (union car_flags flags)
	Sets values for, packs, and sends the safety_status message on CAN 1.
static void	transmit_pump_enable_msg (bool enable)
void	task_state_init (Global_Handles_t *handles_ptr)
	Initialize the state machine task and input queue.
float	get_brake_pressure ()

Variables
DMA_VAR struct adc1_buffer	g_adc1_buffer
DMA_VAR struct adc2_buffer	g_adc2_buffer

Detailed Description

Car state machine.

Author

Jamie Pruett :)

Version

0.1

Date

2024-11-01

Macro Definition Documentation

APPS_DEVIATION_THRESH

#define APPS_DEVIATION_THRESH   10.0F

APPS_MAX_THRESH

#define APPS_MAX_THRESH   50.0F

APPS_MIN_THRESH

#define APPS_MIN_THRESH   -50.0F

BP_FRONT_OFFSET

#define BP_FRONT_OFFSET   -32.0F

BP_REAR_OFFSET

#define BP_REAR_OFFSET   0.0F

BPS_OPEN_THRESH

#define BPS_OPEN_THRESH   (uint16_t)((4.7F * (3.0F / 5.0F)) * (65535.0F / 3.3F))

BPS_SHORT_THRESH

#define BPS_SHORT_THRESH   (uint16_t)((0.3F * (3.0F / 5.0F)) * (65535.0F / 3.3F))

BRAKE_THRESHOLD_PSI

#define BRAKE_THRESHOLD_PSI   70.0F

BTSF_APPS_ACTV_THRESH

#define BTSF_APPS_ACTV_THRESH   25.0F

BTSF_APPS_DEACTV_THRESH

#define BTSF_APPS_DEACTV_THRESH   5.0F

BTSF_EMA_DENOM

#define BTSF_EMA_DENOM   5

FAULT_ACTIVE

#define FAULT_ACTIVE   true

HV_CONNECTED_ACTIVE

#define HV_CONNECTED_ACTIVE   false

PUMP_OFF_DUTY_CYCLE

#define PUMP_OFF_DUTY_CYCLE   0x10

PUMP_ON_DUTY_CYCLE

#define PUMP_ON_DUTY_CYCLE   0xFF

SHUTDOWN_CLOSED_ACTIVE

#define SHUTDOWN_CLOSED_ACTIVE   false

SOFT_FAULT_TIME_MS

#define SOFT_FAULT_TIME_MS   100

TIMER_BLINK_LED_MIN

#define TIMER_BLINK_LED_MIN   500

TIMER_BLINK_LED_RANGE

#define TIMER_BLINK_LED_RANGE   2000

TIMER_RTDS_MS

#define TIMER_RTDS_MS   3000

TIMER_RTDS_NAME

#define TIMER_RTDS_NAME   "tim_rtds"

TSSI_CTRL_RED

#define TSSI_CTRL_RED   true

TSSI_IMD_CLEAR_WINDOW

#define TSSI_IMD_CLEAR_WINDOW   pdMS_TO_TICKS(3000)

Function Documentation

__aligned()

struct __aligned

(

4

)

brake_raw_to_pressure_f()

__always_inline float brake_raw_to_pressure_f ( uint16_t raw )

static

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brake_raw_to_pressure_r()

__always_inline float brake_raw_to_pressure_r ( uint16_t raw )

static

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bspd_raw_to_current()

__always_inline float bspd_raw_to_current ( float cs_raw, float ref_raw )

static

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car_state_machine()

void car_state_machine ( union car_flags * flags_ptr, TimerHandle_t timer_rtds_hdl )

static

Car state machine.

Parameters

flags_ptr	Car state flags
timer_rtds_hdl	RTDS FreeRTOS timer handle

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check_apps()

enum apps_fault check_apps ( struct apps * apps_ptr )

static

Checks for an APPS soft fault.

Parameters

a_raw	APPS A raw value
b_raw	APPS B raw value

Returns

bool true if there's an APPS fault

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check_btsf()

enum btsf_fault check_btsf ( bool brake_pressed, uint16_t bps_raw, float throttle_pos )

static

Checks for a BTSF fault.

Parameters

brake_pressed	Whether the brake is pressed
bps_raw	Front brake pressure sensor raw ADC reading
throttle_pos	Throttle position (percent)

Returns

BTSF fault state

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get_brake_pressure()

float get_brake_pressure

(

)

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log_car_status()

void log_car_status ( union car_flags flags )

static

Sets values for, packs, and sends the safety_status message on CAN 1.

Parameters

flags
adc_buffer_ptr	Pointer to the ADC DMA buffer struct

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lv_batt_raw_to_voltage()

__always_inline float lv_batt_raw_to_voltage ( float raw )

static

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read_gpio()

void read_gpio ( union car_flags * flags_ptr )

static

Polls GPIO fault and status pins for state machine inputs. This function accounts for pin active levels - that is, "true" in the flags struct indicates that the pin is in its active state whether the active state is high or low.

Parameters

flags_ptr

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task_state()

void task_state ( void * task_params_ptr )

static

Implements the state machine task.

Parameters

task_params_ptr

Pointer to the FreeRTOS handles struct

This task is scheduled periodically. It checks all state machine inputs (GPIO states, soft fault states, data from CAN messages, software timers) to see if they have changed. If they have, it runs the car state machine and any state-dependent code. The safety_status message is sent here on CAN 2 for logging every time the task is scheduled.

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task_state_init()

void task_state_init

(

Global_Handles_t *

handles_ptr

)

Initialize the state machine task and input queue.

Parameters

handles_ptr

Pointer to FreeRTOS handles struct

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timer_blink_led_callback()

void timer_blink_led_callback ( TimerHandle_t timer_hdl )

static

Very important functionality.

Parameters

timer_hdl

FreeRTOS timer handle

timer_rtds_callback()

void timer_rtds_callback ( TimerHandle_t timer_hdl )

static

RTDS FreeRTOS timer callback. Timer created in and started in car_state_machine when entering the RTDS state.

Parameters

timer_hdl

FreeRTOS timer handle. The timer ID is the state machine task handle

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transmit_pump_enable_msg()

void transmit_pump_enable_msg ( bool enable )

static

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Variable Documentation

g_adc1_buffer

DMA_VAR struct adc1_buffer g_adc1_buffer

g_adc2_buffer

DMA_VAR struct adc2_buffer g_adc2_buffer