Add 10ms delay after closing relays

Previously, heartbeat frames weren't actually sent because the timer
interrupt never fired.

Core/Inc/AIR_State_Maschine.h

@@ -12,6 +12,7 @@
 
 #include "stm32g441xx.h"
 #include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
 
 #define TS_INACTIVE 0
 #define TS_PRECHARGE 2
@@ -51,4 +52,8 @@ void AIR_Discharge_Position();
 void AIR_Active_Position();
 void AIR_Error_Position();
 
+typedef enum { RELAY_AIR_NEG, RELAY_AIR_POS, RELAY_PRECHARGE } Relay;
+
+void Set_Relay_Position(Relay relay, GPIO_PinState position);
+
 #endif /* INC_AIR_STATE_MASCHINE_H_ */

Core/Inc/stm32g4xx_it.h

@@ -60,6 +60,7 @@ void FDCAN1_IT0_IRQHandler(void);
 void FDCAN1_IT1_IRQHandler(void);
 void TIM1_UP_TIM16_IRQHandler(void);
 void SPI1_IRQHandler(void);
+void TIM8_UP_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Src/AIR_State_Maschine.c

@@ -7,7 +7,10 @@
 
 #include "AIR_State_Maschine.h"
 
+#include "main.h"
+
 #include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
 
 DMA_HandleTypeDef* air_current_dma = {0};
 DMA_HandleTypeDef* sdc_voltage_dma = {0};
@@ -178,48 +181,67 @@ void Deactivate_TS(AIRStateHandler* airstate) {
 }
 
 void AIR_Precharge_Position() {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
-                    GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
-                    GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
-                    GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
 }
 
 void AIR_Inactive_Position() {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
-                    GPIO_PIN_RESET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
-                    GPIO_PIN_RESET);
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
-                    GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
 }
 
 void AIR_Discharge_Position() {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
-                    GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
-                    GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
-                    GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
 }
 
 void AIR_Active_Position() // TODO Deactivate Precharge after a while to
                            // decrease current Consumption
 {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
-                    GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
-                    GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
-                    GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_SET);
 }
 
 void AIR_Error_Position() {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
-                    GPIO_PIN_RESET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
-                    GPIO_PIN_RESET);
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
-                    GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
+}
+
+void Set_Relay_Position(Relay relay, GPIO_PinState position) {
+  static GPIO_PinState neg = 0;
+  static GPIO_PinState pos = 0;
+  static GPIO_PinState precharge = 0;
+  // Add a small delay after closing relays in order to not draw too much
+  // current
+  switch (relay) {
+  case RELAY_AIR_NEG:
+    HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
+                      position);
+    if (position == GPIO_PIN_SET && neg == GPIO_PIN_RESET) {
+      HAL_Delay(10);
+    }
+    neg = position;
+    break;
+  case RELAY_AIR_POS:
+    HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
+                      position);
+    if (position == GPIO_PIN_SET && pos == GPIO_PIN_RESET) {
+      HAL_Delay(10);
+    }
+    pos = position;
+    break;
+  case RELAY_PRECHARGE:
+    HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
+                      position);
+    if (position == GPIO_PIN_SET && precharge == GPIO_PIN_RESET) {
+      HAL_Delay(10);
+    }
+    precharge = position;
+    break;
+  }
 }

Core/Src/stm32g4xx_hal_msp.c

@@ -322,6 +322,9 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM8_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_TIM8_CLK_ENABLE();
+    /* TIM8 interrupt Init */
+    HAL_NVIC_SetPriority(TIM8_UP_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM8_UP_IRQn);
   /* USER CODE BEGIN TIM8_MspInit 1 */
 
   /* USER CODE END TIM8_MspInit 1 */
@@ -358,6 +361,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
   /* USER CODE END TIM8_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM8_CLK_DISABLE();
+
+    /* TIM8 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(TIM8_UP_IRQn);
   /* USER CODE BEGIN TIM8_MspDeInit 1 */
 
   /* USER CODE END TIM8_MspDeInit 1 */

Core/Src/stm32g4xx_it.c

@@ -60,6 +60,7 @@
 extern FDCAN_HandleTypeDef hfdcan1;
 extern SPI_HandleTypeDef hspi1;
 extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim8;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -259,6 +260,20 @@ void SPI1_IRQHandler(void)
   /* USER CODE END SPI1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM8 update interrupt.
+  */
+void TIM8_UP_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM8_UP_IRQn 0 */
+
+  /* USER CODE END TIM8_UP_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim8);
+  /* USER CODE BEGIN TIM8_UP_IRQn 1 */
+
+  /* USER CODE END TIM8_UP_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Mon Aug 01 08:27:49 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Tue Aug 02 18:31:31 CEST 2022] 
 ##########################################################################################################################
 
 # ------------------------------------------------

Master_Control.ioc

@@ -65,6 +65,7 @@ NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.SVCall_IRQn=true\:4\:0\:true\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:4\:0\:true\:false\:true\:false\:true\:false
 NVIC.TIM1_UP_TIM16_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.TIM8_UP_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:4\:0\:true\:false\:true\:false\:false\:false
 PA10.GPIOParameters=GPIO_Label
 PA10.GPIO_Label=Status_LED
@@ -151,7 +152,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_FDCAN1_Init-FDCAN1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_CRC_Init-CRC-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_FDCAN1_Init-FDCAN1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_CRC_Init-CRC-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM8_Init-TIM8-false-HAL-true
 RCC.ADC12Freq_Value=16000000
 RCC.AHBFreq_Value=16000000
 RCC.APB1Freq_Value=16000000