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Check individual heartbeat frames for timeouts

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This commit is contained in:
jazzpi 2022-07-30 22:22:05 +02:00
parent d9e8cc5f52
commit 4316e604da
4 changed files with 31 additions and 2 deletions
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1
Core/Inc/AMS_Errorcodes.h
View File

@ -12,5 +12,6 @@
#define SlavesTimeoutError 1 #define SlavesTimeoutError 1
#define SlavesErrorFrameError 2 #define SlavesErrorFrameError 2
#define SLAVES_FRAME_TIMEOUT_ERROR 3
#endif /* INC_AMS_ERRORCODES_H_ */ #endif /* INC_AMS_ERRORCODES_H_ */

2
Core/Inc/Slave_Monitoring.h
View File

@ -19,6 +19,7 @@
#define NUMBEROFTEMPS 32 #define NUMBEROFTEMPS 32
#define SLAVETIMEOUT 500 #define SLAVETIMEOUT 500
#define SLAVE_HEARTBEAT_FRAMES 11
typedef struct { typedef struct {
@ -28,6 +29,7 @@ typedef struct {
uint32_t timestamp; uint32_t timestamp;
uint8_t error; uint8_t error;
uint8_t timeout; uint8_t timeout;
uint32_t frame_timestamps[SLAVE_HEARTBEAT_FRAMES];
} SlaveHandler; } SlaveHandler;

1
Core/Src/CAN_Communication.c
View File

@ -210,5 +210,6 @@ void updateSlaveInfo(uint8_t slaveID, uint8_t MessageID, canFrame rxFrame) {
break; break;
} }
slaves[slaveID].timestamp = rxFrame.timestamp; slaves[slaveID].timestamp = rxFrame.timestamp;
slaves[slaveID].frame_timestamps[MessageID] = rxFrame.timestamp;
} }
} }

29
Core/Src/Slave_Monitoring.c
View File

@ -7,6 +7,11 @@
#include "Slave_Monitoring.h" #include "Slave_Monitoring.h"
#include "AMS_Errorcodes.h"
#include "main.h"
#include "stm32g4xx_hal.h"
SlaveHandler slaves[NUMBEROFSLAVES]; SlaveHandler slaves[NUMBEROFSLAVES];
void initSlaves() { void initSlaves() {
@ -25,15 +30,18 @@ void initSlaves() {
for (int n = 0; n < NUMBEROFSLAVES; n++) { for (int n = 0; n < NUMBEROFSLAVES; n++) {
for (int i = 0; i < NUMBEROFTEMPS; i++) for (int i = 0; i < NUMBEROFTEMPS; i++)
slaves[n].cellTemps[i] = 30000; slaves[n].cellTemps[i] = 0;
for (int j = 0; j < NUMBEROFCELLS; j++) for (int j = 0; j < NUMBEROFCELLS; j++)
slaves[n].cellVoltages[j] = 25000; slaves[n].cellVoltages[j] = 32768;
slaves[n].error = 0; slaves[n].error = 0;
slaves[n].timeout = 0; slaves[n].timeout = 0;
slaves[n].timestamp = HAL_GetTick(); slaves[n].timestamp = HAL_GetTick();
slaves[n].slaveID = n; slaves[n].slaveID = n;
for (int i = 0; i < SLAVE_HEARTBEAT_FRAMES; i++) {
slaves[n].frame_timestamps[i] = HAL_GetTick();
}
} }
} }
@ -53,6 +61,23 @@ uint8_t checkSlaveTimeout() {
AMS_Error_Handler(&timeouterror); AMS_Error_Handler(&timeouterror);
return 1; return 1;
} }
if (HAL_GetTick() < 20000) {
continue;
}
for (int i = 0; i < SLAVE_HEARTBEAT_FRAMES; i++) {
if ((int)(HAL_GetTick() - slaves[n].frame_timestamps[i]) >
SLAVETIMEOUT * 2) {
slaves[n].timeout = 1;
AMSErrorHandle timeouterror;
timeouterror.errorcode = SLAVES_FRAME_TIMEOUT_ERROR;
timeouterror.errorarg[0] = n;
timeouterror.errorarg[1] = i;
AMS_Error_Handler(&timeouterror);
return 1;
}
}
} }
return 0; return 0;
} }