System States Documentation¶

Vehicle States¶

The scooter's operational mode is tracked via the vehicle:state Redis key and BLE characteristic 9a590021.

Canonical Vehicle States¶

These are the exact string values that appear in Redis and BLE:

"unknown" - Initial/uninitialized state
"stand-by" - Systems powered but motor disabled, ready for authentication
"parked" - Vehicle unlocked with kickstand down or not ready to drive
"ready-to-drive" - Full system power, motor enabled, kickstand up, all conditions met
"waiting-seatbox" - Transitional state waiting for seatbox to close
"shutting-down" - Transitional state before powering down (~5s)
"updating" - OTA firmware update in progress
"waiting-hibernation" - Manual hibernation sequence initiated (60s timeout)
"waiting-hibernation-advanced" - Advanced hibernation wait (brakes held for 10s+)
"waiting-hibernation-seatbox" - Hibernation wait with seatbox open notification
"waiting-hibernation-confirm" - Hibernation confirmation screen (3s)

Note: Vehicle states are separate from power manager states (tracked in power-manager:state). Vehicle states represent the operational mode of the scooter, while power manager states represent the system's power/suspend state.

Vehicle State Transitions¶

stateDiagram-v2
    [*] --> unknown
    unknown --> stand-by: init complete (initial state)
    unknown --> updating: init complete (updating)
    unknown --> ready-to-drive: init complete (default)

    stand-by --> ready-to-drive: keycard auth / unlock request

    ready-to-drive --> parked: kickstand down (after 1s timer)
    ready-to-drive --> ready-to-drive: conditions still met

    parked --> ready-to-drive: kickstand up + all conditions met
    parked --> waiting-seatbox: keycard auth (when not activating)
    parked --> shutting-down: lock request
    parked --> waiting-hibernation-confirm: lock-hibernate request
    parked --> waiting-hibernation: hibernation timer (manual)

    waiting-seatbox --> ready-to-drive: seatbox closed + conditions met
    waiting-seatbox --> parked: seatbox closed (not ready)
    waiting-seatbox --> shutting-down: keycard auth / lock request
    waiting-seatbox --> ready-to-drive: unlock request
    waiting-seatbox --> waiting-hibernation-confirm: lock-hibernate request

    shutting-down --> stand-by: timeout (~5s)

    updating --> shutting-down: update complete / not updating
    updating --> shutting-down: timeout (30min abort)
    updating --> ready-to-drive: keycard auth / unlock request

    waiting-hibernation --> waiting-hibernation-seatbox: keycard tap (seatbox open)
    waiting-hibernation --> waiting-hibernation-advanced: brakes held (10s timer)
    waiting-hibernation --> ready-to-drive: timeout (60s) / kickstand raised / unlock
    waiting-hibernation --> shutting-down: lock request
    waiting-hibernation --> waiting-hibernation-confirm: lock-hibernate request

    waiting-hibernation-advanced --> ready-to-drive: brakes released
    waiting-hibernation-advanced --> waiting-hibernation-confirm: keycard auth

    waiting-hibernation-seatbox --> waiting-hibernation: seatbox closed
    waiting-hibernation-seatbox --> waiting-hibernation-confirm: keycard auth

    waiting-hibernation-confirm --> shutting-down: timeout (3s, then hibernate)

Key Transition Conditions¶

is_ready_to_drive()¶

Vehicle can enter "ready-to-drive" when ALL conditions are met: - Dashboard ready - Kickstand up - Seatbox lock closed - Not activating - Handlebar unlocked - Battery on

Hibernation Sequence¶

Manual hibernation requires: 1. Both brakes pressed 2. Dashboard ready 3. Not activating

Flow: parked (15s) → waiting-hibernation (brakes held 10s) → waiting-hibernation-advanced → waiting-hibernation-confirm (keycard) → shutting-down (3s) → stand-by (with hibernation flag)

Park Protection¶

1-second timer prevents rapid drive → park → drive oscillations

Power Manager States¶

The power manager (unu-pm) tracks system power states separately from vehicle states. These are exposed via power-manager:state Redis key and BLE characteristic 9a5900a1:

Power States¶

"booting" - System starting up
"running" - System fully operational
"suspending" - System entering suspend mode
"suspending-imminent" - Suspend about to occur (pre-suspend delay active)
"hibernating" - System in hibernation
"hibernating-imminent" - Hibernation about to occur
"hibernating-manual" - Manual hibernation requested
"hibernating-manual-imminent" - Manual hibernation about to occur
"hibernating-timer" - Timer-based hibernation (configurable, default 5 days)
"hibernating-timer-imminent" - Timer hibernation about to occur
"reboot" - System reboot
"reboot-imminent" - Reboot about to occur

State Suffixes¶

The "-imminent" suffix indicates that a power state change is about to occur but the pre-suspend delay is still active. This gives services time to complete operations and prevents data loss.

Power State Transitions¶

stateDiagram-v2
    [*] --> booting
    booting --> running: boot complete (~5s)
    running --> suspending-imminent: suspend request
    suspending-imminent --> suspending: pre-suspend delay (~60s)
    suspending-imminent --> running: abort suspend
    suspending --> hibernating-imminent: low battery / hibernate request
    suspending --> running: wakeup
    hibernating-imminent --> hibernating: iMX6 power down (~20s)
    hibernating-imminent --> running: abort hibernation
    hibernating --> booting: wakeup (brakes/BLE)
    running --> reboot-imminent: reboot request
    reboot-imminent --> reboot: pre-reboot delay
    reboot --> booting: system restart

nRF Hibernation Levels¶

When in "hibernating" power state, the nRF firmware distinguishes between two hibernation levels based on CB battery charge:

L1 (Level 1) - Triggered at CB battery ≤25% SoC
CB battery continues to power control electronics
Periodic wakeup checks for brake lever activation
Low battery wakeup at 10% SoC
L2 (Level 2) - Triggered at CB battery ≤5% SoC
System switches to AUX battery to preserve CB battery
Minimal power consumption
Wakeup only via brake levers

See nRF Power Management for details.

Battery States¶

Main Battery¶

Tracked per battery slot (battery:0, battery:1) via Redis and BLE:

"unknown" - State cannot be determined
"asleep" - Lowest power state, NFC wake detection active
"idle" - Systems powered, high current path disabled
"active" - Full power state, high current path enabled, required for driving/charging

Connectivity Battery (CB)¶

"not-charging" - Battery discharging
"charging" - Battery charging (current > ~100mA)
"unknown" - State cannot be determined

Auxiliary Battery (AUX)¶

Hardware-controlled charging states:

"not-charging" - Not charging
"bulk-charge" - Maximum current charging for depleted battery
"absorption-charge" - Constant voltage as battery approaches full charge
"float-charge" - Maintenance mode for fully charged battery