Add CAN ID for EEPROM_WRITE

Core/Inc/AIR_State_Maschine.h

@@ -25,6 +25,7 @@
 #define ADC_READ_TIMEOUT 500       // in ms
 #define SDC_LOWER_THRESHOLD 2500   // in ADC Values
 #define PRECHARGE_95_DURATION 1000 // in ms
+#define PRECHARGE_OPEN_AFTER 1000  // in ms
 // FIXME
 #define LOWER_VEHICLE_SIDE_VOLTAGE_LIMIT 150000 // in mV
 
@@ -32,6 +33,7 @@ typedef struct {
 
   int32_t BatteryVoltageVehicleSide;
   int32_t BatteryVoltageBatterySide;
+  int32_t shuntCurrent;
   uint8_t targetTSState;
   uint8_t currentTSState;
   uint32_t precharge95ReachedTimestamp;

Core/Inc/CAN_Communication.h

@@ -23,6 +23,7 @@
 #define SLAVE_EMERGENCY_ADDRESS 0x001 // Emergency Frame
 #define CLOCK_SYNC_ADDRESS 0x002
 #define MASTER_HEARTBEAT_ADDRESS 0x010
+#define SLAVE_EEPROM_WRITE_ADDRESS 0x020
 
 typedef struct {
   int16_t FrameID;

Core/Inc/Slave_Monitoring.h

@@ -14,7 +14,7 @@
 
 #include "stm32g441xx.h"
 
-#define NUMBEROFSLAVES 7
+#define NUMBEROFSLAVES 9
 #define NUMBEROFCELLS 10
 #define NUMBEROFTEMPS 32
 

Core/Src/AIR_State_Maschine.c

@@ -18,6 +18,10 @@ DMA_HandleTypeDef* sdc_voltage_dma = {0};
 uint8_t air_adc_complete = 0;
 uint8_t sdc_adc_complete = 0;
 
+static uint32_t pos_air_change_timestamp, neg_air_change_timestamp,
+    precharge_change_timestamp;
+static GPIO_PinState neg_air_state, pos_air_state, precharge_state;
+
 AIRStateHandler init_AIR_State_Maschine() {
   AIRStateHandler airstate = {0};
 
@@ -113,6 +117,12 @@ uint8_t Update_AIR_State(AIRStateHandler* airstate) {
     }
   }
 
+  else if (airstate->currentTSState == TS_CHARGING) {
+    if (airstate->shuntCurrent < 0) {
+      airstate->currentTSState = TS_ERROR;
+    }
+  }
+
   else if (airstate->currentTSState ==
            TS_PRECHARGE) // Change from Precharge to Active at 95% TS Voltage at
                          // Vehicle Side
@@ -198,10 +208,13 @@ void AIR_Discharge_Position() {
   Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
 }
 
-void AIR_Active_Position() // TODO Deactivate Precharge after a while to
-                           // decrease current Consumption
-{
+void AIR_Active_Position() {
+  if (pos_air_state == GPIO_PIN_SET &&
+      HAL_GetTick() - pos_air_change_timestamp > PRECHARGE_OPEN_AFTER) {
+    Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
+  } else {
     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);
 }
@@ -213,35 +226,41 @@ void AIR_Error_Position() {
 }
 
 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) {
+    if (position != neg_air_state) {
+      neg_air_change_timestamp = HAL_GetTick();
+    }
+    if (position == GPIO_PIN_SET && neg_air_state == GPIO_PIN_RESET) {
       HAL_Delay(10);
     }
-    neg = position;
+    neg_air_state = 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) {
+    if (position != pos_air_state) {
+      pos_air_change_timestamp = HAL_GetTick();
+    }
+    if (position == GPIO_PIN_SET && pos_air_state == GPIO_PIN_RESET) {
       HAL_Delay(10);
     }
-    pos = position;
+    pos_air_state = 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) {
+    if (position != precharge_state) {
+      precharge_change_timestamp = HAL_GetTick();
+    }
+    if (position == GPIO_PIN_SET && precharge_state == GPIO_PIN_RESET) {
       HAL_Delay(10);
     }
-    precharge = position;
+    precharge_state = position;
     break;
   }
 }

Core/Src/CAN_Communication.c

@@ -14,11 +14,8 @@
 #include <stdint.h>
 #include <string.h>
 
-// 3 should be programmed with CAN id 2
-// const uint16_t slave_CAN_id_to_slave_index[7] = {
-//     255, 255, 0, 255, 255, 255, 1}; // TODO: Make this pretty pls
-const uint16_t slave_CAN_id_to_slave_index[7] = {
-    0, 1, 2, 3, 4, 5, 6}; // TODO: Make this pretty pls
+const uint16_t slave_CAN_id_to_slave_index[10] = {
+    0, 1, 2, 3, 4, 5, 6, 7, 255, 8}; // TODO: Make this pretty pls
 canFrame framebuffer[CANFRAMEBUFFERSIZE] = {0};
 uint32_t framebufferwritepointer = 0;
 uint32_t framebufferreadpointer = 0;

Core/Src/SPI_Slave_Communication.c

@@ -348,7 +348,7 @@ void InterSTMFrame() {
       spirxbuf[0] << 24 | spirxbuf[1] << 16 | spirxbuf[2] << 8 | spirxbuf[3];
   spi_airstates->BatteryVoltageVehicleSide =
       spirxbuf[4] << 24 | spirxbuf[5] << 16 | spirxbuf[6] << 8 | spirxbuf[7];
-  uint32_t current =
+  spi_airstates->shuntCurrent =
       spirxbuf[8] << 24 | spirxbuf[9] << 16 | spirxbuf[10] << 8 | spirxbuf[11];
   spi_airstates->targetTSState = spirxbuf[12];
 }