supercap_controllers.hpp

Go to the documentation of this file.

 
#ifndef STM_UTILS_INC_SUPERCAP_CONTROLLERS_HPP_
#define STM_UTILS_INC_SUPERCAP_CONTROLLERS_HPP_
 
#include "adc_utils.hpp"
#include "hrtim.h"

typedef enum {
    voltageErr,    
    currentErr     
} Safety_DetectItemTypedef;

typedef enum {
    safe,       
    warning,    
    wtf,        
    runAway,    
    itsJoever   
} safetyLevelDef;

typedef enum {
    idle,    
    normal   
} Mode_ModeTypedef;

#define HRTIM_PERIOD 34000
#define HRTIM_HALF_PERIOD 17000

class supercap_control_manager : public adc_manager {
public:
    supercap_control_manager(ADC_HandleTypeDef* adc_cap, ADC_HandleTypeDef* adc_bat, ADC_HandleTypeDef* adc_temp) :
        adc_manager(adc_cap, adc_bat, adc_temp) {};

    ~supercap_control_manager() {};

    HAL_StatusTypeDef init_loop();

    void setup_pid_controllers();

    void set_ref_chassis_power(float ref_power_);

    void loop_update(float Icap_, float Ibat_, float Vcap_, float Ichassis_, float Vbat_);

    void stop_loop();

    HAL_StatusTypeDef start_loop();

    HAL_StatusTypeDef start_gates_pwm(float init_duty_cycle);

    void all_safety_checks();

    void silent_mode();

    safetyLevelDef safetyLevel;
 
private:
    float ref_power = 60.0f;
};

void softwareReset();

extern uint8_t safetyItemLevel[8];

extern float chassis_voltage;
extern float battery_current;
 
#endif /* STM_UTILS_INC_SUPERCAP_CONTROLLERS_HPP_ */