Global Enum definition for sharing between projects. More...

Classes
struct	PedalCalibrationData
	Stores data that defines when the pedal is full pressed or unpressed. More...

struct	__attribute__
	Per-fault detail snapshot for the BPS fault code. More...

union	BpsFaultData

struct	BpsFaultRecord
	Latched BPS fault state, persisted on the rear controller. More...

Macros
#define	VEHICLE_DRIVE_STATE_TO_STR(s) (((s) < VEHICLE_DRIVE_NUM_STATES) ? vehicle_drive_state_strings[(s)] : "UNKNOWN")

#define	GLOBAL_LIGHTS_BLINK_FREQUENCY_HZ 1.5f
	Blink frequency for all indicator/strobe lights (turn signals + BPS strobe). More...

#define	GLOBAL_LIGHTS_BLINK_PERIOD_MS ((uint32_t)(1000.0f / (2.0f * GLOBAL_LIGHTS_BLINK_FREQUENCY_HZ)))

#define	GLOBAL_SIGNAL_LIGHTS_BLINK_PERIOD_MS GLOBAL_LIGHTS_BLINK_PERIOD_MS

#define	GLOBAL_BPS_LIGHTS_BLINK_PERIOD_MS GLOBAL_LIGHTS_BLINK_PERIOD_MS

#define	ERROR_FLAG_HARDWARE_OVERCURRENT_MASK (1U << ERROR_FLAG_HARDWARE_OVERCURRENT)
	Hardware overcurrent error flag mask.

#define	ERROR_FLAG_SOFTWARE_OVERCURRENT_MASK (1U << ERROR_FLAG_SOFTWARE_OVERCURRENT)
	Software overcurrent error flag mask.

#define	ERROR_FLAG_DC_BUS_OV_MASK (1U << ERROR_FLAG_DC_BUS_OV)
	DC bus overvoltage error flag mask.

#define	ERROR_FLAG_BAD_HALL_SEQUENCE_MASK (1U << ERROR_FLAG_BAD_HALL_SEQUENCE)
	Bad hall sequence error flag mask.

#define	ERROR_FLAG_WATCHDOG_CAUSED_RESET_MASK (1U << ERROR_FLAG_WATCHDOG_CAUSED_RESET)
	Watchdog caused reset error flag mask.

#define	ERROR_FLAG_CFG_READ_ERROR_MASK (1U << ERROR_FLAG_CFG_READ_ERROR)
	CFG read error flag mask.

#define	ERROR_FLAG_UVLO_MASK (1U << ERROR_FLAG_UVLO)
	UVLO error flag mask.

#define	ERROR_FLAG_DESATURATION_FAULT_MASK (1U << ERROR_FLAG_DESATURATION_FAULT)
	Desaturation fault error flag mask.

#define	ERROR_FLAG_MOTOR_OVER_SPEED_MASK (1U << ERROR_FLAG_MOTOR_OVER_SPEED)
	Motor overspeed error flag mask.

#define	LIMIT_FLAG_OUTPUT_VOLTAGE_PWM_MASK (1U << LIMIT_FLAG_OUTPUT_VOLTAGE_PWM)
	Output voltage PWM limit flag mask.

#define	LIMIT_FLAG_MOTOR_CURRENT_MASK (1U << LIMIT_FLAG_MOTOR_CURRENT)
	Motor current limit flag mask.

#define	LIMIT_FLAG_VELOCITY_MASK (1U << LIMIT_FLAG_VELOCITY)
	Velocity limit flag mask.

#define	LIMIT_FLAG_BUS_CURRENT_MASK (1U << LIMIT_FLAG_BUS_CURRENT)
	Bus current limit flag mask.

#define	LIMIT_FLAG_BUS_VOLTAGE_UPPER_MASK (1U << LIMIT_FLAG_BUS_VOLTAGE_UPPER)
	Bus voltage upper limit flag mask.

#define	LIMIT_FLAG_BUS_VOLTAGE_LOWER_MASK (1U << LIMIT_FLAG_BUS_VOLTAGE_LOWER)
	Bus voltage lower limit flag mask.

#define	LIMIT_FLAG_TEMPERATURE_MASK (1U << LIMIT_FLAG_TEMPERATURE)
	Temperature limit flag mask.

#define	BPS_FAULT_OVERVOLTAGE_MASK (1U << BPS_FAULT_OVERVOLTAGE)
	BPS Overvoltage fault mask.

#define	BPS_FAULT_UNBALANCE_MASK (1U << BPS_FAULT_UNBALANCE)
	BPS Unbalanced fault mask.

#define	BPS_FAULT_OVERTEMP_AMBIENT_MASK (1U << BPS_FAULT_OVERTEMP_AMBIENT)
	BPS Ambient temperature fault mask.

#define	BPS_FAULT_COMMS_LOSS_AFE_MASK (1U << BPS_FAULT_COMMS_LOSS_AFE)
	BPS Communication lost with AFEs fault mask.

#define	BPS_FAULT_COMMS_LOSS_CURR_SENSE_MASK (1U << BPS_FAULT_COMMS_LOSS_CURR_SENSE)
	BPS Communication lost with current sense fault mask.

#define	BPS_FAULT_OVERTEMP_CELL_MASK (1U << BPS_FAULT_OVERTEMP_CELL)
	BPS Cell temperature fault mask.

#define	BPS_FAULT_OVERCURRENT_MASK (1U << BPS_FAULT_OVERCURRENT)
	BPS Overcurrent fault mask.

#define	BPS_FAULT_UNDERVOLTAGE_MASK (1U << BPS_FAULT_UNDERVOLTAGE)
	BPS Undervoltage fault mask.

#define	BPS_FAULT_KILLSWITCH_MASK (1U << BPS_FAULT_KILLSWITCH)
	BPS Killswitch fault mask.

#define	BPS_FAULT_RELAY_CLOSE_FAILED_MASK (1U << BPS_FAULT_RELAY_CLOSE_FAILED)
	BPS Relay failed to close fault mask.

#define	BPS_FAULT_DISCONNECTED_MASK (1U << BPS_FAULT_DISCONNECTED)
	BPS Disconnected fault mask.

#define	BPS_FAULT_HIGH_PRIORITY_MASK (1U << 15U)
	BPS High priority fault mask.

#define	BPS_FAULT_LOW_PRIORITY_MASK (1U << 14U)
	BPS Low priority fault mask.

#define	STEERING_LIGHT_STATE_TO_STR(s) (((s) < STEERING_LIGHTS_NUM_STATES) ? steering_light_state_strings[(s)] : "UNKNOWN")

#define	STEERING_CC_INCREASE_MASK (1U << EE_STEERING_CC_INCREASE_BIT)
	Increase cruise control speed mask.

#define	STEERING_CC_DECREASE_MASK (1U << EE_STEERING_CC_DECREASE_BIT)
	Decrease cruise control speed mask.

#define	STEERING_CC_TOGGLE_MASK (1U << EE_STEERING_CC_TOGGLE_BIT)
	Toggle cruise control mask.

#define	IS_WS22_CAN_ID(x) (((x) >= 0x80U && (x) <= 0x8BU) \|\| (x) == 0x501U)
	True for any raw CAN ID belonging to the WS22 motor controller (status 0x81-0x8B or drive cmd 0x501).

Typedefs
typedef struct PedalCalibrationData	PedalCalibrationData
	Stores data that defines when the pedal is full pressed or unpressed. More...

Enumerations
enum	VehicleDriveState { VEHICLE_DRIVE_STATE_INVALID = 0 , VEHICLE_DRIVE_STATE_NEUTRAL = 1 , VEHICLE_DRIVE_STATE_DRIVE = 2 , VEHICLE_DRIVE_STATE_REVERSE = 3 , VEHICLE_DRIVE_STATE_CRUISE = 4 , VEHICLE_DRIVE_STATE_BRAKE = 5 , VEHICLE_DRIVE_STATE_REGEN = 6 , VEHICLE_DRIVE_STATE_FAULT = 7 , VEHICLE_DRIVE_NUM_STATES }
	Vehicle drive states. More...

enum	VehiclePowerStates { VEHICLE_POWER_STATE_IDLE , VEHICLE_POWER_STATE_DRIVE , VEHICLE_POWER_STATE_CHARGE , VEHICLE_POWER_STATE_FAULT }
	Vehicle power states. More...

enum	Ws22MotorFlags { ERROR_FLAG_HARDWARE_OVERCURRENT = 0 , ERROR_FLAG_SOFTWARE_OVERCURRENT = 1 , ERROR_FLAG_DC_BUS_OV = 2 , ERROR_FLAG_BAD_HALL_SEQUENCE = 3 , ERROR_FLAG_WATCHDOG_CAUSED_RESET = 4 , ERROR_FLAG_CFG_READ_ERROR = 6 , ERROR_FLAG_UVLO = 6 , ERROR_FLAG_DESATURATION_FAULT = 7 , ERROR_FLAG_MOTOR_OVER_SPEED = 8 , LIMIT_FLAG_OUTPUT_VOLTAGE_PWM = 9 , LIMIT_FLAG_MOTOR_CURRENT = 10 , LIMIT_FLAG_VELOCITY = 11 , LIMIT_FLAG_BUS_CURRENT = 12 , LIMIT_FLAG_BUS_VOLTAGE_UPPER = 13 , LIMIT_FLAG_BUS_VOLTAGE_LOWER = 14 , LIMIT_FLAG_TEMPERATURE = 15 , NUM_WS22_MOTOR_FLAGS }
	WS22 motor limit and error flags.

enum	BpsFault { BPS_FAULT_OVERVOLTAGE , BPS_FAULT_UNBALANCE , BPS_FAULT_OVERTEMP_AMBIENT , BPS_FAULT_COMMS_LOSS_AFE , BPS_FAULT_COMMS_LOSS_CURR_SENSE , BPS_FAULT_OVERTEMP_CELL , BPS_FAULT_OVERCURRENT , BPS_FAULT_UNDERVOLTAGE , BPS_FAULT_KILLSWITCH , BPS_FAULT_RELAY_CLOSE_FAILED , BPS_FAULT_DISCONNECTED , NUM_BPS_FAULTS }
	Battery fault definitions. More...

enum	SteeringLightState { STEERING_LIGHTS_OFF_STATE = 0 , STEERING_LIGHTS_LEFT_STATE = 1 , STEERING_LIGHTS_RIGHT_STATE = 2 , STEERING_LIGHTS_HAZARD_STATE = 3 , STEERING_LIGHTS_NUM_STATES }
	Steering lights definitions. More...

enum	BpsLightState { BPS_LIGHT_ON_STATE , BPS_LIGHT_OFF_STATE , NUM_BPS_LIGHT_STATES }

enum	SteeringCruiseControl { STEERING_CRUISE_CONTROL_DECREASE_BIT = 0 , STEERING_CRUISE_CONTROL_INCREASE_BIT , STEERING_CRUISE_CONTROL_TOGGLE_BIT }
	Steering cruise control definitions. More...

enum	PDPowerState { EE_POWER_OFF_STATE , EE_POWER_PRECHARGE_STATE , EE_POWER_DRIVE_STATE , EE_POWER_FAULT_STATE }
	Power distribution power state definitions. More...

Functions
struct	__attribute__ ((aligned(4))) PedalPersistData
	Pedal persist struct.

Variables
static const char *	vehicle_drive_state_strings [VEHICLE_DRIVE_NUM_STATES]
	LUT + Macro to help print vehicle drive states. More...

	PedalPersistData

static const char *	steering_light_state_strings [STEERING_LIGHTS_NUM_STATES] = { "OFF", "LEFT", "RIGHT", "HAZARD" }
	LUT + Macro to help print steering light states.

Detailed Description

Global Enum definition for sharing between projects.

Macro Definition Documentation

◆ GLOBAL_LIGHTS_BLINK_FREQUENCY_HZ

#define GLOBAL_LIGHTS_BLINK_FREQUENCY_HZ 1.5f

Blink frequency for all indicator/strobe lights (turn signals + BPS strobe).

Regulation requires 60-120 pulses per minute (1-2 Hz); 1.5 Hz = 90 ppm sits mid-band. One pulse is a full on+off cycle and the software timer toggles the output every callback, so the toggle period is half the pulse period: 1000 / (2 * freq) ms.

Typedef Documentation

◆ PedalCalibrationData

typedef struct PedalCalibrationData PedalCalibrationData

Stores data that defines when the pedal is full pressed or unpressed.

The lower_value is the value at which the pedal is considered fully unpressed whereas the upper_value is the value at which the pedal is fully pressed

Enumeration Type Documentation

◆ BpsFault

enum BpsFault

Battery fault definitions.

Enumerator
BPS_FAULT_OVERVOLTAGE	BPS Overvoltage fault
BPS_FAULT_UNBALANCE	BPS Unbalanced fault
BPS_FAULT_OVERTEMP_AMBIENT	BPS Ambient temperature fault
BPS_FAULT_COMMS_LOSS_AFE	BPS Communication lost with AFEs fault
BPS_FAULT_COMMS_LOSS_CURR_SENSE	BPS Communication lost with current sense fault
BPS_FAULT_OVERTEMP_CELL	BPS Cell temperature fault
BPS_FAULT_OVERCURRENT	BPS Overcurrent fault
BPS_FAULT_UNDERVOLTAGE	BPS Undervoltage fault
BPS_FAULT_KILLSWITCH	BPS Killswitch fault
BPS_FAULT_RELAY_CLOSE_FAILED	BPS Relay failed to close fault
BPS_FAULT_DISCONNECTED	BPS Disconnected fault

◆ BpsLightState

enum BpsLightState

Enumerator
BPS_LIGHT_ON_STATE	BPS light on state
BPS_LIGHT_OFF_STATE	BPS light off state
NUM_BPS_LIGHT_STATES	Number of BPS light states

◆ PDPowerState

enum PDPowerState

Power distribution power state definitions.

Enumerator
EE_POWER_OFF_STATE	Power distribution off state
EE_POWER_PRECHARGE_STATE	Power distribution precharge state
EE_POWER_DRIVE_STATE	Power distribution drive state
EE_POWER_FAULT_STATE	Power distribution fault state

◆ SteeringCruiseControl

enum SteeringCruiseControl

Steering cruise control definitions.

Enumerator
STEERING_CRUISE_CONTROL_DECREASE_BIT	Decrease cruise control speed
STEERING_CRUISE_CONTROL_INCREASE_BIT	Increase cruise control speed
STEERING_CRUISE_CONTROL_TOGGLE_BIT	Toggle cruise control

◆ SteeringLightState

enum SteeringLightState

Steering lights definitions.

Enumerator
STEERING_LIGHTS_OFF_STATE	Steering lights off
STEERING_LIGHTS_LEFT_STATE	Steering light left turn
STEERING_LIGHTS_RIGHT_STATE	Steering light right turn
STEERING_LIGHTS_HAZARD_STATE	Steering light hazard state
STEERING_LIGHTS_NUM_STATES	Number of steering light states

◆ VehicleDriveState

enum VehicleDriveState

Vehicle drive states.

Enumerator
VEHICLE_DRIVE_STATE_INVALID	Wrong State
VEHICLE_DRIVE_STATE_NEUTRAL	Car Not Actively Moving in Neutral
VEHICLE_DRIVE_STATE_DRIVE	Car Drive Forward
VEHICLE_DRIVE_STATE_REVERSE	Car Drive Reverse
VEHICLE_DRIVE_STATE_CRUISE	Car Cruise Constant Velocity
VEHICLE_DRIVE_STATE_BRAKE	Car Brake
VEHICLE_DRIVE_STATE_REGEN	Car Brake With Regen
VEHICLE_DRIVE_STATE_FAULT	BPS fault

◆ VehiclePowerStates

enum VehiclePowerStates

Vehicle power states.

Enumerator
VEHICLE_POWER_STATE_IDLE	Ready but not driving or charging, cars in neutral
VEHICLE_POWER_STATE_DRIVE	Driving: motor relays closed, LV enabled
VEHICLE_POWER_STATE_CHARGE	Charging: charger detected, motor relay may be required
VEHICLE_POWER_STATE_FAULT	Faulted: relays open, latched until reset

Variable Documentation

◆ vehicle_drive_state_strings

const char* vehicle_drive_state_strings[VEHICLE_DRIVE_NUM_STATES]

static

Initial value:

= {
  [VEHICLE_DRIVE_STATE_INVALID] = "INVALID", [VEHICLE_DRIVE_STATE_NEUTRAL] = "NEUTRAL", [VEHICLE_DRIVE_STATE_DRIVE] = "DRIVE", [VEHICLE_DRIVE_STATE_REVERSE] = "REVERSE",
  [VEHICLE_DRIVE_STATE_CRUISE] = "CRUISE",   [VEHICLE_DRIVE_STATE_BRAKE] = "BRAKE",     [VEHICLE_DRIVE_STATE_REGEN] = "REGEN",
}

LUT + Macro to help print vehicle drive states.

Classes

Macros

Typedefs

Enumerations

Functions

Variables