Modules

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)

• 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)

mci_data_broadcast

• 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)

drive_rx

• receive messages (only drive state) and keep a global state, also raise events

• calls fsm directly with the event to change state

• if already in drive and is set to drive, just return ok

pedal_rx

• will be a library (has its own storage)

• receives pedal messages (brake and throttle values) (in one message)

• stores them in its storage

• has a watchdog timer (sets to 0 brake 0 throttle if times out)

cruise_rx

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

• raises event

mci_output

• soft timer output behaviour is defined as follows for the drive state

• from the table, the key values are:

  • brake_threshold: currently unknown

  • throttle/regen_threshold: currently_unknown

  • MAX_REGEN: 1.0f

  • MAX_REGEN_IN_THROTTLE: currently unknown

  • MAX_CURRENT: 1.0f

drive_output_fsm

• has a can rx handler that processes an event directly upon drive state message

  • acks the message upon transitioning

  • allows repeat state commands (i.e. being set to drive while in drive is fine)

• has another rx handler that processes fault messages

  • goes to neutral

  • acks the message

• 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. (filtered at center console)

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

  • reverse

    • reverse → drive: trivial (filtered at center console)

  • 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 and handle cruise logic (checking pedals)

• soft_timer is cancelled when we’re in off.

• uses heartbeat_rx library

storage:

• precharge_status

• drive_state

Incoming CAN Messages

Outgoing CAN Messages