Add CAN ID for EEPROM_WRITE

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
@@ -24,6 +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
 
@@ -31,6 +33,7 @@ typedef struct {
 
   int32_t BatteryVoltageVehicleSide;
   int32_t BatteryVoltageBatterySide;
+  int32_t shuntCurrent;
   uint8_t targetTSState;
   uint8_t currentTSState;
   uint32_t precharge95ReachedTimestamp;
@@ -51,4 +54,8 @@ 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/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
 
@@ -32,6 +32,7 @@ typedef struct {
   uint8_t error;
   uint8_t timeout;
   uint32_t frame_timestamps[SLAVE_HEARTBEAT_FRAMES];
+  uint8_t error_frame[8];
 
 } SlaveHandler;
 

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};
@@ -15,6 +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};
 
@@ -110,6 +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
@@ -178,48 +191,76 @@ void Deactivate_TS(AIRStateHandler* airstate) {
 }
 
 void AIR_Precharge_Position() {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
-                    GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
-                    GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
-                    GPIO_PIN_RESET);
 }
 
 void AIR_Inactive_Position() {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
-                    GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_RESET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
-                    GPIO_PIN_RESET);
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
-                    GPIO_PIN_RESET);
 }
 
 void AIR_Discharge_Position() {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
-                    GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
-                    GPIO_PIN_SET);
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
-                    GPIO_PIN_RESET);
 }
 
-void AIR_Active_Position() // TODO Deactivate Precharge after a while to
+void AIR_Active_Position() {
-                           // decrease current Consumption
+  if (pos_air_state == GPIO_PIN_SET &&
-{
+      HAL_GetTick() - pos_air_change_timestamp > PRECHARGE_OPEN_AFTER) {
-  HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
+    Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
-                    GPIO_PIN_SET);
+  } else {
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
+    Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
-                    GPIO_PIN_SET);
+  }
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
-                    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,
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
-                    GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_RESET);
-  HAL_GPIO_WritePin(AIR_negative_Control_GPIO_Port, AIR_negative_Control_Pin,
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
-                    GPIO_PIN_RESET);
+}
-  HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
+
-                    GPIO_PIN_RESET);
+void Set_Relay_Position(Relay relay, GPIO_PinState position) {
+  // 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 != neg_air_state) {
+      neg_air_change_timestamp = HAL_GetTick();
+    }
+    if (position == GPIO_PIN_SET && neg_air_state == GPIO_PIN_RESET) {
+      HAL_Delay(10);
+    }
+    neg_air_state = position;
+    break;
+  case RELAY_AIR_POS:
+    HAL_GPIO_WritePin(AIR_Positive_Control_GPIO_Port, AIR_Positive_Control_Pin,
+                      position);
+    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_air_state = position;
+    break;
+  case RELAY_PRECHARGE:
+    HAL_GPIO_WritePin(PreCharge_Control_GPIO_Port, PreCharge_Control_Pin,
+                      position);
+    if (position != precharge_state) {
+      precharge_change_timestamp = HAL_GetTick();
+    }
+    if (position == GPIO_PIN_SET && precharge_state == GPIO_PIN_RESET) {
+      HAL_Delay(10);
+    }
+    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[10] = {
-// const uint16_t slave_CAN_id_to_slave_index[7] = {
+    0, 1, 2, 3, 4, 5, 6, 7, 255, 8}; // TODO: Make this pretty pls
-//     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
 canFrame framebuffer[CANFRAMEBUFFERSIZE] = {0};
 uint32_t framebufferwritepointer = 0;
 uint32_t framebufferreadpointer = 0;
@@ -72,11 +69,9 @@ uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan) {
       uint8_t messageID = msg & 0x00F;
       updateSlaveInfo(slaveID, messageID, rxFrame);
     } else if (rxFrame.FrameID == SLAVE_EMERGENCY_ADDRESS) {
-      AMSErrorHandle errorframe = {0};
+      uint8_t slave_id = rxFrame.data[0];
-      errorframe.errorcode = SlavesErrorFrameError;
+      slaves[slave_id].error = 1;
-      memcpy(errorframe.errorarg, rxFrame.data, 7);
+      memcpy(slaves[slave_id].error_frame, rxFrame.data, 8);
-
-      AMS_Error_Handler(&errorframe);
     }
   }
 

Core/Src/Clock_Sync.c

@@ -10,6 +10,8 @@ static FDCAN_HandleTypeDef* can;
 static TIM_HandleTypeDef* sync_timer;
 static TIM_HandleTypeDef* heartbeat_timer;
 
+static uint8_t clock_sync_counter = 0;
+
 void clock_sync_init(FDCAN_HandleTypeDef* can_handle,
                      TIM_HandleTypeDef* sync_timer_handle,
                      TIM_HandleTypeDef* heartbeat_timer_handle) {
@@ -25,7 +27,8 @@ void clock_sync_init(FDCAN_HandleTypeDef* can_handle,
 
 void clock_sync_handle_timer_complete(TIM_HandleTypeDef* timer) {
   if (timer == sync_timer) {
-    CAN_Transmit(can, CLOCK_SYNC_ADDRESS, NULL, 0);
+    CAN_Transmit(can, CLOCK_SYNC_ADDRESS, &clock_sync_counter, 1);
+    clock_sync_counter++;
   } else if (timer == heartbeat_timer) {
     CAN_Transmit(can, MASTER_HEARTBEAT_ADDRESS, NULL, 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];
 }

Core/Src/Slave_Monitoring.c

@@ -13,6 +13,8 @@
 #include "stm32g4xx_hal.h"
 #include "stm32g4xx_hal_gpio.h"
 
+#include <string.h>
+
 SlaveHandler slaves[NUMBEROFSLAVES];
 
 void initSlaves() {
@@ -63,8 +65,12 @@ uint8_t checkSlaveTimeout() {
       return 1;
     }
 
-    if (HAL_GetTick() < 20000) {
+    if (slaves[n].error) {
-      continue;
+      AMSErrorHandle errorframe;
+      errorframe.errorcode = SlavesErrorFrameError;
+      memcpy(errorframe.errorarg, slaves[n].error_frame, 7);
+      AMS_Error_Handler(&errorframe);
+      return 1;
     }
 
     for (int i = 0; i < SLAVE_HEARTBEAT_FRAMES; i++) {

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