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precharge_control

• receives can message for precharge

• begins precharge (sets gpio pin)

  • acks the precharge message (checks the gpio state after setting it, if it’s the same, ack status OK)

• discharges (receives can message for discharge (power-off sequence, bms faults)

  • acks the message

• receives fault events for discharge(internally generated if the mci’s fault)

• sends precharge complete message when precharge is complete (interrupt)

• keeps a global state of the precharge status (the interrupt should be triggered on both rising and falling)

precharge_status_fsm

• not really needed… precharge’s simple enough

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• listens on the CAN network for mci data. (interrupt driven)

• sends it on the car’s internal CAN network. (can happen when the interrupt goes off)

relay_rx

• sets gpio state

• will have a guard (precharge status can be used here)

  • Need to successfully disable

• reads from it

• acks message

• will be a library

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• will be a library

• simply just acks powertrain messages

pedal_rx

• receives pedal messages

• stores them in its storage

cruise_rx

• receives cruise messages: on, off, increase, decrease

• raises event

drive_output_fsm

• receives pedal messages (throttle and brake), and makes a decision on

  • target speed

  • throttle value

• has two modes: cruise and normal

  • in normal,

  • in cruise, sets target speed

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• states:

  • off

    • off → drive: drive event gets raised from a drive state message.

    • off → reverse: reverse event gets raised from drive state message.

  • drive

    • drive → off: must happen immediately, can happen using a method and calling fsm_process_event explicitly.

    • drive → reverse: reverse event gets raised from drive state message.

    • drive → cruise: cruise control ON message gets received.

  • reverse

    • reverse → drive: trivial

  • cruise:

    • cruise → cruise:

      • increase/decrease target speed

    • cruise → drive:

      • cancellation: through brake/throttle press

• architecture:

  • have a repeating soft_timer for outputting to the motor controller.

  • body of soft_timer will be as follows:

    • if internal state is drive/reverse, make drive/reverse commands.

    • if internal state is cruise, make cruise commands.

  • soft_timer is cancelled when we’re in off.

Incoming CAN Messages

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