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• Drive button has been pressed (neutral state)

• Power state is POWER_MAIN (neutral state)

• Speed state is stationary Activate Pre-charge, it is successful (or we are already charged(speed >= 0) (neutral state)

• Get precharge state (state 1)

  • if state is down (not charged) go to state 2

  • else go to state 3 (is charged)

• Turn on Pre-charge and get ack (state 2)

• Transmit REVERSE state to MCI, receive ACK (state 3)

• If either step fails, return to neutral

Neutral → Reverse

• Drive button has been pressed (neutral state)

• Power state is POWER_MAIN (neutral state)

• Speed state is stationary (speed <= 0) (neutral state)

• Get precharge state (state 1)

  • if state is down (not charged) go to state 2

  • else go to state 3 (is charged)

• Turn on Pre-charge is successful (or we are already chargedand get ack (state 2)

• Transmit REVERSE state to MCI, receive ACK (state 3)

Drive → Neutral

• Neutral button or force (sent by power fsm) or drive_state != main (drive state)

• Transmit NEUTRAL state to MCI, receive ACK (state 1)

Reverse → Neutral

• Neutral button or force (sent by power fsm) or drive_state != main (drive state)

• Transmit NEUTRAL state to MCI, receive ACK (state 1)

Centre Console Communications:

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