sys.h

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/**
 *
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/**
 * @file    sys.h
 * @author  foxBMS Team
 * @date    2020-02-24 (date of creation)
 * @updated 2022-10-27 (date of last update)
 * @version v1.4.1
 * @ingroup ENGINE
 * @prefix  SYS
 *
 * @brief   Sys driver header
 *
 *
 */
 
#ifndef FOXBMS__SYS_H_
#define FOXBMS__SYS_H_
 
/*========== Includes =======================================================*/
#include "sys_cfg.h"
 
/*========== Macros and Definitions =========================================*/
 
/** Symbolic names for busyness of the system */
typedef enum {
    SYS_CHECK_OK,     /*!< system ok      */
    SYS_CHECK_BUSY,   /*!< system busy    */
    SYS_CHECK_NOT_OK, /*!< system not ok  */
} SYS_CHECK_e;
 
/** States of the state machine */
typedef enum {
    SYS_FSM_STATE_DUMMY,          /*!< dummy state - always the first state */
    SYS_FSM_STATE_HAS_NEVER_RUN,  /*!< never run state - always the second state */
    SYS_FSM_STATE_UNINITIALIZED,  /*!< uninitialized state */
    SYS_FSM_STATE_INITIALIZATION, /*!< initializing the state machine */
    SYS_FSM_STATE_RUNNING,        /*!< operational mode of the state machine  */
    SYS_FSM_STATE_ERROR,          /*!< state for error processing  */
} SYS_FSM_STATES_e;
 
/** Substates of the state machine */
typedef enum {
    SYS_FSM_SUBSTATE_DUMMY,                                  /*!< dummy state - always the first substate */
    SYS_FSM_SUBSTATE_ENTRY,                                  /*!< entry state - always the second substate */
    SYS_FSM_SUBSTATE_INITIALIZATION_SBC,                     /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_BOOT_MESSAGE,            /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_INTERLOCK,               /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_CONTACTORS,              /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_BALANCING,               /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_INSULATION_GUARD,        /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_FIRST_MEASUREMENT_CYCLE, /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_CHECK_CURRENT_SENSOR,    /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_MISC,                    /*!< TODO */
    SYS_FSM_SUBSTATE_INITIALIZATION_BMS,                     /*!< TODO */
    SYS_FSM_SUBSTATE_RUNNING,                                /*!< fist running substate */
} SYS_FSM_SUBSTATES_e;
 
/*================== Constant and Variable Definitions ======================*/
 
/** States of the SYS state machine */
typedef enum {
    /* Init-Sequence */
    SYS_STATEMACH_UNINITIALIZED,                 /*!<    */
    SYS_STATEMACH_INITIALIZATION,                /*!<    */
    SYS_STATEMACH_SYSTEM_BIST,                   /*!< run a built-in self-test */
    SYS_STATEMACH_INITIALIZED,                   /*!<    */
    SYS_STATEMACH_INITIALIZE_SBC,                /*!<    */
    SYS_STATEMACH_INITIALIZE_CAN,                /*!< initialize CAN module */
    SYS_STATEMACH_INITIALIZE_INTERLOCK,          /*!<    */
    SYS_STATEMACH_INITIALIZE_CONTACTORS,         /*!<    */
    SYS_STATEMACH_INITIALIZE_BALANCING,          /*!<    */
    SYS_STATEMACH_INITIALIZE_BMS,                /*!<    */
    SYS_STATEMACH_RUNNING,                       /*!<    */
    SYS_STATEMACH_FIRST_MEASUREMENT_CYCLE,       /*!<    */
    SYS_STATEMACH_INITIALIZE_MISC,               /*!<    */
    SYS_STATEMACH_CHECK_CURRENT_SENSOR_PRESENCE, /*!<    */
    SYS_STATEMACH_INITIALIZE_IMD,                /*!< initialize IMD module */
    SYS_STATEMACH_ERROR,                         /*!< Error-State */
} SYS_STATEMACH_e;
 
/** Substates of the SYS state machine */
typedef enum {
    SYS_ENTRY,                         /*!< Substate entry state */
    SYS_CHECK_ERROR_FLAGS,             /*!< Substate check if any error flag set */
    SYS_CHECK_STATE_REQUESTS,          /*!< Substate check if there is a state request */
    SYS_WAIT_INITIALIZATION_SBC,       /*!< Substate to wait for initialization of the sbc state machine */
    SYS_WAIT_INITIALIZATION_INTERLOCK, /*!< Substate to wait for initialization of the interlock state machine */
    SYS_WAIT_INITIALIZATION_CONT,      /*!< Substate to wait for initialization of the contactor state machine */
    SYS_WAIT_INITIALIZATION_BAL,       /*!< Substate to wait for initialization of the balancing state machine */
    SYS_WAIT_INITIALIZATION_BAL_GLOBAL_ENABLE, /*!< Substate to enable/disable balancing globally */
    SYS_WAIT_INITIALIZATION_IMD,               /*!< Substate to wait for initialization of the imd state machine */
    SYS_WAIT_INITIALIZATION_BMS,               /*!< Substate to wait for initialization of the bms state machine */
    SYS_WAIT_FIRST_MEASUREMENT_CYCLE,          /*!< Substate to wait for first measurement cycle to complete */
    SYS_WAIT_CURRENT_SENSOR_PRESENCE,          /*!< Substate to wait for first measurement cycle to complete */
    SYS_SBC_INITIALIZATION_ERROR,              /*!< Substate error of SBC initialization */
    SYS_CONT_INITIALIZATION_ERROR,             /*!< Substate error of contactor state machine initialization */
    SYS_BAL_INITIALIZATION_ERROR,              /*!< Substate error of balancing state machine initialization */
    SYS_ILCK_INITIALIZATION_ERROR,             /*!< Substate error of contactor state machine initialization */
    SYS_IMD_INITIALIZATION_ERROR,              /*!< Substate error of bms state machine initialization */
    SYS_BMS_INITIALIZATION_ERROR,              /*!< Substate error of bms state machine initialization */
    SYS_MEAS_INITIALIZATION_ERROR,             /*!< Substate error if first measurement cycle does not complete */
    SYS_CURRENT_SENSOR_PRESENCE_ERROR,         /*!< Substate error if first measurement cycle does not complete */
} SYS_STATEMACH_SUB_e;
 
/** State requests for the SYS statemachine */
typedef enum {
    SYS_STATE_INITIALIZATION_REQUEST, /*!< initialization request */
    SYS_STATE_ERROR_REQUEST,          /*!< error state requested */
    SYS_STATE_NO_REQUEST,             /*!< no request */
} SYS_STATE_REQUEST_e;
 
/** Possible return values when state requests are made to the SYS statemachine */
typedef enum {
    SYS_OK,                  /*!< sys --> ok                             */
    SYS_BUSY_OK,             /*!< sys busy --> ok                        */
    SYS_REQUEST_PENDING,     /*!< requested to be executed               */
    SYS_ILLEGAL_REQUEST,     /*!< Request can not be executed            */
    SYS_ALREADY_INITIALIZED, /*!< Initialization of LTC already finished */
    SYS_ILLEGAL_TASK_TYPE,   /*!< Illegal                                */
} SYS_RETURN_TYPE_e;
 
/**
 * This structure contains all the variables relevant for the CONT state machine.
 * The user can get the current state of the CONT state machine with this variable
 */
typedef struct {
    uint16_t timer; /*!< time in ms before the state machine processes the next state, e.g. in counts of 1ms    */
    SYS_STATE_REQUEST_e stateRequest; /*!< current state request made to the state machine                      */
    SYS_STATEMACH_e state;            /*!< state of Driver State Machine                                        */
    SYS_STATEMACH_SUB_e substate;     /*!< current substate of the state machine                                */
    SYS_STATEMACH_e lastState;        /*!< previous state of the state machine                                  */
    SYS_STATEMACH_SUB_e lastSubstate; /*!< previous substate of the state machine                               */
    uint32_t illegalRequestsCounter;  /*!< counts the number of illegal requests to the SYS state machine       */
    uint16_t initializationTimeout;   /*!< Timeout to wait for initialization of state machine state machine    */
    uint8_t triggerEntry;             /*!< counter for re-entrance protection (function running flag)           */
} SYS_STATE_s;
 
/*========== Extern Constant and Variable Declarations ======================*/
 
extern SYS_STATE_s sys_state;
 
/*========== Extern Function Prototypes =====================================*/
/**
 * @brief   sets the current state request of the state variable sys_state.
 * @details This function is used to make a state request to the state machine,
 *          e.g., start voltage measurement, read result of voltage
 *          measurement, re-initialization. It calls #SYS_CheckStateRequest()
 *          to check if the request is valid. The state request is rejected if
 *          is not valid. The result of the check is returned immediately, so
 *          that the requester can act in case it made a non-valid state
 *          request.
 * @param   stateRequest state requested to set
 * @return  If the request was successfully set, it returns the SYS_OK, else
 *          the current state of requests (type #SYS_STATE_REQUEST_e)
 */
extern SYS_RETURN_TYPE_e SYS_SetStateRequest(SYS_STATE_REQUEST_e stateRequest);
 
/**
 * @brief   tick function, call this to advance the state machine
 * @details This function contains the sequence of events in the SYS state
 *          machine. It must be called time-triggered, every 10ms.
 */
extern STD_RETURN_TYPE_e SYS_Trigger(SYS_STATE_s *pSystemState);
 
/** built-in self-test for the macros in general.h */
extern void SYS_GeneralMacroBist(void);
 
/*========== Externalized Static Functions Prototypes (Unit Test) ===========*/
 
#endif /* FOXBMS__SYS_H_ */