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/AMS_Errorcodes.h

@@ -12,5 +12,7 @@
 
 #define SlavesTimeoutError 1
 #define SlavesErrorFrameError 2
+#define SLAVES_FRAME_TIMEOUT_ERROR 3
+#define SLAVES_TOO_FEW_TEMPS 4
 
 #endif /* INC_AMS_ERRORCODES_H_ */

Core/Inc/CAN_Communication.h

@@ -21,6 +21,9 @@
 #define SLAVE_STATUS_BASE_ADDRESS 0x600
 #define SLAVE_CMD_BASE_ADDRESS 0x500  //
 #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;
@@ -33,6 +36,10 @@ typedef struct {
 
 extern canFrame framebuffer[CANFRAMEBUFFERSIZE];
 
+extern uint32_t framebufferwritepointer;
+extern uint32_t framebufferreadpointer;
+extern uint32_t frames_read;
+
 void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
                                uint32_t interrupt_flags);
 

Core/Inc/Clock_Sync.h

@@ -0,0 +1,34 @@
+#ifndef INC_CLOCK_SYNC_H_
+#define INC_CLOCK_SYNC_H_
+
+/**
+ * @file Clock_Sync.h
+ * @author Jasper v. Blanckenburg (j.blanckenburg@fasttube.de)
+ * @brief Clock synchronization mechanism -- master side
+ * @version 0.1
+ * @date 2022-08-01
+ *
+ * @copyright Copyright (c) 2022
+ *
+ * The slaves' clocks are fairly inaccurate -- too inaccurate for reliable CAN
+ * communication. In order to synchronize the clock frequencies, the slaves need
+ * an external clock source. Since the HSE doesn't work on all slaves, we use
+ * the master as the external clock source. For more detail, take a look at the
+ * clock sync section in the slave code.
+ *
+ * This file handles the master part of the clock sync mechanism: It sends
+ * CLOCK_SYNC frames every 1000 ms and MASTER_HEARTBEAT frames every 100 ms. In
+ * order to keep the time between packets accurate, they are sent from timer
+ * interrupts.
+ */
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_fdcan.h"
+#include "stm32g4xx_hal_tim.h"
+
+void clock_sync_init(FDCAN_HandleTypeDef* can, TIM_HandleTypeDef* sync_timer,
+                     TIM_HandleTypeDef* heartbeat_timer);
+
+void clock_sync_handle_timer_complete(TIM_HandleTypeDef* timer);
+
+#endif // INC_CLOCK_SYNC_H_

Core/Inc/SPI_Slave_Communication.h

@@ -27,6 +27,8 @@
 #define GET_ERROR_CMD_LEN 1
 #define GET_MEASUREMENTS_CMD_LEN 1
 
+#define SPI_FRAME_TIMEOUT 300
+
 void spi_communication_init(SPI_HandleTypeDef* spi,
                             AIRStateHandler* airstatemaschine);
 void checkSPI();

Core/Inc/Slave_Monitoring.h

@@ -14,11 +14,14 @@
 
 #include "stm32g441xx.h"
 
-#define NUMBEROFSLAVES 7
+#define NUMBEROFSLAVES 9
 #define NUMBEROFCELLS 10
 #define NUMBEROFTEMPS 32
 
 #define SLAVETIMEOUT 500
+#define SLAVE_HEARTBEAT_FRAMES 11
+// 30% * 90 = 27, each sensor measures 2 cells
+#define SLAVE_MIN_TEMP_SENSORS 14
 
 typedef struct {
 
@@ -28,6 +31,8 @@ typedef struct {
   uint32_t timestamp;
   uint8_t error;
   uint8_t timeout;
+  uint32_t frame_timestamps[SLAVE_HEARTBEAT_FRAMES];
+  uint8_t error_frame[8];
 
 } SlaveHandler;
 

Core/Inc/stm32g4xx_hal_conf.h

@@ -62,7 +62,7 @@
 /*#define HAL_SMBUS_MODULE_ENABLED   */
 #define HAL_SPI_MODULE_ENABLED
 /*#define HAL_SRAM_MODULE_ENABLED   */
-/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 /*#define HAL_UART_MODULE_ENABLED   */
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */

Core/Inc/stm32g4xx_it.h

@@ -58,7 +58,9 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 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,
-                    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);
+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);
 }
 
 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) {
+  // 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

@@ -11,16 +11,15 @@
 
 #include "stm32g4xx_hal_fdcan.h"
 
+#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;
-uint32_t framebufferreadpointer;
+uint32_t framebufferwritepointer = 0;
+uint32_t framebufferreadpointer = 0;
+uint32_t frames_read = 0;
 
 void CAN_Init(FDCAN_HandleTypeDef* hcan) {
   HAL_FDCAN_Stop(hcan);
@@ -51,6 +50,7 @@ void CAN_Init(FDCAN_HandleTypeDef* hcan) {
 }
 
 uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan) {
+  frames_read = 0;
   while (framebufferreadpointer != framebufferwritepointer) {
     framebufferreadpointer++;
 
@@ -59,6 +59,7 @@ uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan) {
     }
 
     canFrame rxFrame = framebuffer[framebufferreadpointer];
+    frames_read++;
 
     if ((rxFrame.FrameID & SLAVE_STATUS_BASE_ADDRESS) ==
         SLAVE_STATUS_BASE_ADDRESS) {
@@ -68,11 +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};
-      errorframe.errorcode = SlavesErrorFrameError;
-      memcpy(errorframe.errorarg, rxFrame.data, 7);
-
-      AMS_Error_Handler(&errorframe);
+      uint8_t slave_id = rxFrame.data[0];
+      slaves[slave_id].error = 1;
+      memcpy(slaves[slave_id].error_frame, rxFrame.data, 8);
     }
   }
 
@@ -206,5 +205,6 @@ void updateSlaveInfo(uint8_t slaveID, uint8_t MessageID, canFrame rxFrame) {
       break;
     }
     slaves[slaveID].timestamp = rxFrame.timestamp;
+    slaves[slaveID].frame_timestamps[MessageID] = rxFrame.timestamp;
   }
 }

Core/Src/Clock_Sync.c

@@ -0,0 +1,35 @@
+#include "Clock_Sync.h"
+
+#include "CAN_Communication.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_fdcan.h"
+#include "stm32g4xx_hal_tim.h"
+
+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) {
+  can = can_handle;
+  sync_timer = sync_timer_handle;
+  heartbeat_timer = heartbeat_timer_handle;
+  HAL_TIM_Base_Start_IT(heartbeat_timer);
+  // Delay between starting the timers so the interrupts don't fire at the same
+  // time
+  HAL_Delay(50);
+  HAL_TIM_Base_Start_IT(sync_timer);
+}
+
+void clock_sync_handle_timer_complete(TIM_HandleTypeDef* timer) {
+  if (timer == sync_timer) {
+    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

@@ -335,7 +335,7 @@ void InterSTMFrame() {
   spi_transfer_complete = 0;
   HAL_SPI_Receive_IT(spibus, spirxbuf, 13);
   HAL_GPIO_WritePin(Inter_STM_IRQ_GPIO_Port, Inter_STM_IRQ_Pin, GPIO_PIN_SET);
-  uint32_t timeout = HAL_GetTick() + 500;
+  uint32_t timeout = HAL_GetTick() + SPI_FRAME_TIMEOUT;
   while (!spi_transfer_complete && HAL_GetTick() < timeout) {
   }
   HAL_GPIO_WritePin(Inter_STM_IRQ_GPIO_Port, Inter_STM_IRQ_Pin, GPIO_PIN_RESET);
@@ -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

@@ -7,6 +7,14 @@
 
 #include "Slave_Monitoring.h"
 
+#include "AMS_Errorcodes.h"
+#include "main.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
+
+#include <string.h>
+
 SlaveHandler slaves[NUMBEROFSLAVES];
 
 void initSlaves() {
@@ -25,15 +33,18 @@ void initSlaves() {
 
   for (int n = 0; n < NUMBEROFSLAVES; n++) {
     for (int i = 0; i < NUMBEROFTEMPS; i++)
-      slaves[n].cellTemps[i] = 30000;
+      slaves[n].cellTemps[i] = 0;
 
     for (int j = 0; j < NUMBEROFCELLS; j++)
-      slaves[n].cellVoltages[j] = 25000;
+      slaves[n].cellVoltages[j] = 32768;
 
     slaves[n].error = 0;
     slaves[n].timeout = 0;
     slaves[n].timestamp = HAL_GetTick();
     slaves[n].slaveID = n;
+    for (int i = 0; i < SLAVE_HEARTBEAT_FRAMES; i++) {
+      slaves[n].frame_timestamps[i] = HAL_GetTick();
+    }
   }
 }
 
@@ -53,6 +64,41 @@ uint8_t checkSlaveTimeout() {
       AMS_Error_Handler(&timeouterror);
       return 1;
     }
+
+    if (slaves[n].error) {
+      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++) {
+      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;
+      }
+    }
+
+    int working_cell_temps = 0;
+    for (int i = 0; i < NUMBEROFTEMPS; i++) {
+      if (slaves[n].cellTemps[i] != 0) {
+        working_cell_temps++;
+      }
+    }
+    if (working_cell_temps < SLAVE_MIN_TEMP_SENSORS) {
+      AMSErrorHandle temperror;
+      temperror.errorcode = SLAVES_TOO_FEW_TEMPS;
+      temperror.errorarg[0] = n;
+      AMS_Error_Handler(&temperror);
+      return 1;
+    }
   }
   return 0;
 }

Core/Src/main.c

@@ -25,10 +25,13 @@
 #include "AIR_State_Maschine.h"
 #include "AMS_Errorcodes.h"
 #include "CAN_Communication.h"
+#include "Clock_Sync.h"
 #include "Error_Check.h"
 #include "SPI_Slave_Communication.h"
 #include "Slave_Monitoring.h"
 
+#include "stm32g4xx_hal_tim.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -52,6 +55,9 @@ FDCAN_HandleTypeDef hfdcan1;
 
 SPI_HandleTypeDef hspi1;
 
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim8;
+
 /* USER CODE BEGIN PV */
 
 /* USER CODE END PV */
@@ -62,12 +68,19 @@ static void MX_GPIO_Init(void);
 static void MX_FDCAN1_Init(void);
 static void MX_SPI1_Init(void);
 static void MX_CRC_Init(void);
+static void MX_TIM1_Init(void);
+static void MX_TIM8_Init(void);
 /* USER CODE BEGIN PFP */
 void setAMSError(void);
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim) {
+  if (htim == &htim1 || htim == &htim8) {
+    clock_sync_handle_timer_complete(htim);
+  }
+}
 
 AIRStateHandler airstates;
 ErrorFlags errorflags;
@@ -105,13 +118,16 @@ int main(void) {
   MX_FDCAN1_Init();
   MX_SPI1_Init();
   MX_CRC_Init();
+  MX_TIM1_Init();
+  MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
 
   airstates = init_AIR_State_Maschine();
-  initSlaves();
   set_SPI_errorInfo(&defaulterrorhandle);
   spi_communication_init(&hspi1, &airstates);
   CAN_Init(&hfdcan1);
+  clock_sync_init(&hfdcan1, &htim1, &htim8);
+  initSlaves();
 
   HAL_GPIO_WritePin(Status_LED_GPIO_Port, Status_LED_Pin, GPIO_PIN_SET);
   // setAMSError();
@@ -285,6 +301,90 @@ static void MX_SPI1_Init(void) {
   /* USER CODE END SPI1_Init 2 */
 }
 
+/**
+ * @brief TIM1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM1_Init(void) {
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 1599;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 9999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK) {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+}
+
+/**
+ * @brief TIM8 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM8_Init(void) {
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM8_Init 1 */
+
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 1599;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 999;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim8) != HAL_OK) {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+
+  /* USER CODE END TIM8_Init 2 */
+}
+
 /**
  * @brief GPIO Initialization Function
  * @param None

Core/Src/stm32g4xx_hal_msp.c

@@ -293,6 +293,84 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
 
 }
 
+/**
+* @brief TIM_Base MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspInit 0 */
+
+  /* USER CODE END TIM1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM1_CLK_ENABLE();
+    /* TIM1 interrupt Init */
+    HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+
+  /* USER CODE END TIM1_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+
+  /* 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 */
+  }
+
+}
+
+/**
+* @brief TIM_Base MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+  /* USER CODE END TIM1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM1_CLK_DISABLE();
+
+    /* TIM1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(TIM1_UP_TIM16_IRQn);
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+  /* USER CODE END TIM1_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+  /* 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 */
+  }
+
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/stm32g4xx_it.c

@@ -59,13 +59,10 @@
 /* External variables --------------------------------------------------------*/
 extern FDCAN_HandleTypeDef hfdcan1;
 extern SPI_HandleTypeDef hspi1;
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim8;
 /* USER CODE BEGIN EV */
 
-
-
-extern uint8_t framebufferwritepointer;
-extern uint8_t framebufferreadpointer;
-
 /* USER CODE END EV */
 
 /******************************************************************************/
@@ -235,6 +232,20 @@ void FDCAN1_IT1_IRQHandler(void)
   /* USER CODE END FDCAN1_IT1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM1 update interrupt and TIM16 global interrupt.
+  */
+void TIM1_UP_TIM16_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM1_UP_TIM16_IRQn 0 */
+
+  /* USER CODE END TIM1_UP_TIM16_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim1);
+  /* USER CODE BEGIN TIM1_UP_TIM16_IRQn 1 */
+
+  /* USER CODE END TIM1_UP_TIM16_IRQn 1 */
+}
+
 /**
   * @brief This function handles SPI1 global interrupt.
   */
@@ -249,6 +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: [Tue Jul 12 23:51:59 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Tue Aug 02 18:31:31 CEST 2022] 
 ##########################################################################################################################
 
 # ------------------------------------------------

Master_Control.ioc

@@ -18,7 +18,9 @@ Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SPI1
 Mcu.IP5=SYS
-Mcu.IPNb=6
+Mcu.IP6=TIM1
+Mcu.IP7=TIM8
+Mcu.IPNb=8
 Mcu.Name=STM32G441CBTx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC13
@@ -34,6 +36,8 @@ Mcu.Pin17=VP_CRC_VS_CRC
 Mcu.Pin18=VP_SYS_VS_Systick
 Mcu.Pin19=VP_SYS_VS_DBSignals
 Mcu.Pin2=PC15-OSC32_OUT
+Mcu.Pin20=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin21=VP_TIM8_VS_ClockSourceINT
 Mcu.Pin3=PA5
 Mcu.Pin4=PA6
 Mcu.Pin5=PA7
@@ -41,7 +45,7 @@ Mcu.Pin6=PB0
 Mcu.Pin7=PA8
 Mcu.Pin8=PA9
 Mcu.Pin9=PA10
-Mcu.PinsNb=20
+Mcu.PinsNb=22
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G441CBTx
@@ -60,6 +64,8 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 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
@@ -146,7 +152,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC2_Init-ADC2-false-HAL-true,6-MX_FDCAN1_Init-FDCAN1-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_CRC_Init-CRC-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
@@ -197,10 +203,21 @@ SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,DataSize
 SPI1.Mode=SPI_MODE_SLAVE
 SPI1.VirtualType=VM_SLAVE
+TIM1.CounterMode=TIM_COUNTERMODE_UP
+TIM1.IPParameters=Prescaler,CounterMode,PeriodNoDither
+TIM1.PeriodNoDither=9999
+TIM1.Prescaler=1599
+TIM8.IPParameters=Prescaler,PeriodNoDither
+TIM8.PeriodNoDither=999
+TIM8.Prescaler=1599
 VP_CRC_VS_CRC.Mode=CRC_Activate
 VP_CRC_VS_CRC.Signal=CRC_VS_CRC
 VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
 VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM1_VS_ClockSourceINT.Mode=Internal
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
+VP_TIM8_VS_ClockSourceINT.Mode=Internal
+VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
 board=custom

STM32Make.make

@@ -38,6 +38,7 @@ BUILD_DIR = build
 C_SOURCES =  \
 Core/Src/AIR_State_Maschine.c \
 Core/Src/CAN_Communication.c \
+Core/Src/Clock_Sync.c \
 Core/Src/Error_Check.c \
 Core/Src/SPI_Slave_Communication.c \
 Core/Src/Slave_Monitoring.c \