Modules

precharge_control

• receives can message

• 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 ()

  • acks

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

precharge_status_fsm

• not really needed… precharge’s simple enough

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)

relay_rx

• sets gpio state

• reads from it

• acks message

• will be a library

drive_rx

• will be a library

• receive messages and keep a global state, also raise events

powertrain_rx

• will be a library

• simply just acks powertrain messages

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

Incoming CAN Messages

Outgoing CAN Messages