Send counter with clock sync frames

This allows for a simple sanity check on the slave to catch missed frames.
2022-08-02 18:25:51 +02:00
13 changed files with 49 additions and 124 deletions
--- a/Core/Inc/AIR_State_Maschine.h
+++ b/Core/Inc/AIR_State_Maschine.h
@ -12,7 +12,6 @@

 #include "stm32g441xx.h"
 #include "stm32g4xx_hal.h"
-#include "stm32g4xx_hal_gpio.h"

 #define TS_INACTIVE 0
 #define TS_PRECHARGE 2
@ -25,7 +24,6 @@
 #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

@ -33,7 +31,6 @@ typedef struct {

  int32_t BatteryVoltageVehicleSide;
  int32_t BatteryVoltageBatterySide;
-  int32_t shuntCurrent;
  uint8_t targetTSState;
  uint8_t currentTSState;
  uint32_t precharge95ReachedTimestamp;
@ -54,8 +51,4 @@ 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_ */
--- a/Core/Inc/CAN_Communication.h
+++ b/Core/Inc/CAN_Communication.h
@ -23,7 +23,6 @@
 #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;
--- a/Core/Inc/Slave_Monitoring.h
+++ b/Core/Inc/Slave_Monitoring.h
@ -14,7 +14,7 @@

 #include "stm32g441xx.h"

-#define NUMBEROFSLAVES 9
+#define NUMBEROFSLAVES 7
 #define NUMBEROFCELLS 10
 #define NUMBEROFTEMPS 32

@ -32,7 +32,6 @@ typedef struct {
  uint8_t error;
  uint8_t timeout;
  uint32_t frame_timestamps[SLAVE_HEARTBEAT_FRAMES];
-  uint8_t error_frame[8];

 } SlaveHandler;

--- a/Core/Inc/stm32g4xx_it.h
+++ b/Core/Inc/stm32g4xx_it.h
@ -60,7 +60,6 @@ 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 */
--- a/Core/Src/AIR_State_Maschine.c
+++ b/Core/Src/AIR_State_Maschine.c
@ -7,10 +7,7 @@

 #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};
@ -18,10 +15,6 @@ 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};

@ -117,12 +110,6 @@ 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
@ -191,76 +178,48 @@ void Deactivate_TS(AIRStateHandler* airstate) {
 }

 void AIR_Precharge_Position() {
-  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);
+  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);
 }

 void AIR_Inactive_Position() {
-  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);
+  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);
 }

 void AIR_Discharge_Position() {
-  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);
+  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);
 }

-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_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_Error_Position() {
-  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;
-  }
+  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);
 }
--- a/Core/Src/CAN_Communication.c
+++ b/Core/Src/CAN_Communication.c
@ -14,8 +14,11 @@
 #include <stdint.h>
 #include <string.h>

-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
+// 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
 canFrame framebuffer[CANFRAMEBUFFERSIZE] = {0};
 uint32_t framebufferwritepointer = 0;
 uint32_t framebufferreadpointer = 0;
@ -69,9 +72,11 @@ uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan) {
      uint8_t messageID = msg & 0x00F;
      updateSlaveInfo(slaveID, messageID, rxFrame);
    } else if (rxFrame.FrameID == SLAVE_EMERGENCY_ADDRESS) {
-      uint8_t slave_id = rxFrame.data[0];
-      slaves[slave_id].error = 1;
-      memcpy(slaves[slave_id].error_frame, rxFrame.data, 8);
+      AMSErrorHandle errorframe = {0};
+      errorframe.errorcode = SlavesErrorFrameError;
+      memcpy(errorframe.errorarg, rxFrame.data, 7);
+
+      AMS_Error_Handler(&errorframe);
    }
  }

--- a/Core/Src/Clock_Sync.c
+++ b/Core/Src/Clock_Sync.c
@ -28,7 +28,6 @@ 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, &clock_sync_counter, 1);
-    clock_sync_counter++;
  } else if (timer == heartbeat_timer) {
    CAN_Transmit(can, MASTER_HEARTBEAT_ADDRESS, NULL, 0);
  }
--- a/Core/Src/SPI_Slave_Communication.c
+++ b/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];
-  spi_airstates->shuntCurrent =
+  uint32_t current =
      spirxbuf[8] << 24 | spirxbuf[9] << 16 | spirxbuf[10] << 8 | spirxbuf[11];
  spi_airstates->targetTSState = spirxbuf[12];
 }
--- a/Core/Src/Slave_Monitoring.c
+++ b/Core/Src/Slave_Monitoring.c
@ -13,8 +13,6 @@
 #include "stm32g4xx_hal.h"
 #include "stm32g4xx_hal_gpio.h"

-#include <string.h>
-
 SlaveHandler slaves[NUMBEROFSLAVES];

 void initSlaves() {
@ -65,12 +63,8 @@ uint8_t checkSlaveTimeout() {
      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;
+    if (HAL_GetTick() < 20000) {
+      continue;
    }

    for (int i = 0; i < SLAVE_HEARTBEAT_FRAMES; i++) {
--- a/Core/Src/stm32g4xx_hal_msp.c
+++ b/Core/Src/stm32g4xx_hal_msp.c
@ -322,9 +322,6 @@ 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 */
@ -361,9 +358,6 @@ 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 */
--- a/Core/Src/stm32g4xx_it.c
+++ b/Core/Src/stm32g4xx_it.c
@ -60,7 +60,6 @@
 extern FDCAN_HandleTypeDef hfdcan1;
 extern SPI_HandleTypeDef hspi1;
 extern TIM_HandleTypeDef htim1;
-extern TIM_HandleTypeDef htim8;
 /* USER CODE BEGIN EV */

 /* USER CODE END EV */
@ -260,20 +259,6 @@ 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 */
--- a/2
+++ b/2
@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Tue Aug 02 18:31:31 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Mon Aug 01 08:27:49 CEST 2022] 
 ##########################################################################################################################

 # ------------------------------------------------
--- a/Master_Control.ioc
+++ b/Master_Control.ioc
@ -65,7 +65,6 @@ 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
@ -152,7 +151,7 @@ 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,7-MX_TIM8_Init-TIM8-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
 RCC.ADC12Freq_Value=16000000
 RCC.AHBFreq_Value=16000000
 RCC.APB1Freq_Value=16000000