From 8750923e9be7d62321e06d852bb00849f6fea366 Mon Sep 17 00:00:00 2001
From: jazzpi <jasper@mezzo.de>
Date: Mon, 25 Jul 2022 18:48:26 +0200
Subject: [PATCH] Send error flags via CAN
---
Core/Inc/CAN_Communication.h | 5 ++--
Core/Inc/SPI_Communication.h | 6 ++---
Core/Inc/main.h | 11 ++++++++-
Core/Src/CAN_Communication.c | 15 +++++-------
Core/Src/Check_Shunt_Limits.c | 7 +++---
Core/Src/SPI_Communication.c | 41 ++++++++++++++++---------------
Core/Src/main.c | 46 +++++++++++++++++++++++++++--------
7 files changed, 82 insertions(+), 49 deletions(-)
diff --git a/Core/Inc/CAN_Communication.h b/Core/Inc/CAN_Communication.h
index 1030b8d..75aeeef 100644
--- a/Core/Inc/CAN_Communication.h
+++ b/Core/Inc/CAN_Communication.h
@@ -8,8 +8,6 @@
#ifndef INC_CAN_COMMUNICATION_H_
#define INC_CAN_COMMUNICATION_H_
-#include "SPI_Communication.h"
-
#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_fdcan.h"
@@ -79,7 +77,8 @@ uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan);
uint8_t CAN_Transmit(FDCAN_HandleTypeDef* hcan, uint16_t frameid,
uint8_t* buffer, uint8_t datalen);
void CAN_SendAbxStatus(FDCAN_HandleTypeDef* hcan);
-void CAN_SendAMSPanic(FDCAN_HandleTypeDef* hcan);
+typedef struct ErrorFlagHandlerStruct ErrorFlagHandler;
+void CAN_SendAMSPanic(FDCAN_HandleTypeDef* hcan, ErrorFlagHandler* errorflags);
void CAN_SendLoggingFrame(FDCAN_HandleTypeDef* hcan);
uint8_t CAN_convert_logval(uint16_t value, uint8_t type);
diff --git a/Core/Inc/SPI_Communication.h b/Core/Inc/SPI_Communication.h
index 51339d4..4d1815f 100644
--- a/Core/Inc/SPI_Communication.h
+++ b/Core/Inc/SPI_Communication.h
@@ -58,10 +58,10 @@ typedef struct {
} TSHandler;
-typedef struct {
+typedef struct ErrorFlagHandlerStruct {
uint8_t errorcode;
- uint8_t errorargs[8];
+ uint8_t errorargs[7];
uint8_t AMS_ERROR_LED;
uint8_t IMD_ERROR_LED;
uint8_t IMD_ERROR;
@@ -76,7 +76,7 @@ typedef struct {
extern SlaveHandler slaves[NUMBEROFSLAVES];
extern uint16_t min_voltage, max_voltage, min_temp, max_temp;
-extern ErrorFlagHandler errorflags;
+extern ErrorFlagHandler spierrorflags;
extern TSHandler ctrltsstate;
extern uint8_t actualTSState;
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index e161bd2..ec11774 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -46,6 +46,14 @@ extern "C" {
#define THRESH_OV 55050 /* 4.2V */
#define THRESH_UT 0 /* 0C */
#define THRESH_OT 880 /* 55C */
+
+#define AMS_ERRORCODE_TIMEOUT_SHUNT 6
+#define AMS_ERRORCODE_MASTER_THRESH 7
+
+#define AMS_ERRORFLAG_MASTER_THRESH_UT 0
+#define AMS_ERRORFLAG_MASTER_THRESH_OT 1
+#define AMS_ERRORFLAG_MASTER_THRESH_UV 2
+#define AMS_ERRORFLAG_MASTER_THRESH_OV 3
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
@@ -59,7 +67,8 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
void Error_Handler(void);
/* USER CODE BEGIN EFP */
-
+void AMS_Error_Handler(uint8_t ErrorCode, uint32_t nErrorArgs,
+ uint8_t* ErrorArgs);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
diff --git a/Core/Src/CAN_Communication.c b/Core/Src/CAN_Communication.c
index 9d359a7..cb1a4ed 100644
--- a/Core/Src/CAN_Communication.c
+++ b/Core/Src/CAN_Communication.c
@@ -7,10 +7,13 @@
#include "CAN_Communication.h"
+#include "SPI_Communication.h"
#include "SoC_Estimation.h"
#include "stm32g4xx_hal_fdcan.h"
+#include <string.h>
+
canFrame framebuffer[CANFRAMEBUFFERSIZE] = {0};
uint8_t framebufferwritepointer;
uint8_t framebufferreadpointer;
@@ -188,16 +191,10 @@ void CAN_SendAbxStatus(FDCAN_HandleTypeDef* hcan) {
CAN_Transmit(hcan, AMS_STATUS_ID, buffer, 4);
}
-void CAN_SendAMSPanic(FDCAN_HandleTypeDef* hcan) {
+void CAN_SendAMSPanic(FDCAN_HandleTypeDef* hcan, ErrorFlagHandler* errorflags) {
uint8_t buffer[8];
- buffer[0] = errorflags.errorcode;
- buffer[1] = errorflags.errorargs[0];
- buffer[2] = 0;
- buffer[3] = 0;
- buffer[4] = 0;
- buffer[5] = 0;
- buffer[6] = 0;
- buffer[7] = 0;
+ buffer[0] = errorflags->errorcode;
+ memcpy(&buffer[1], errorflags->errorargs, 7);
CAN_Transmit(hcan, AMS_PANIC_ID, buffer, 8);
}
diff --git a/Core/Src/Check_Shunt_Limits.c b/Core/Src/Check_Shunt_Limits.c
index c5d9e06..30c13fc 100644
--- a/Core/Src/Check_Shunt_Limits.c
+++ b/Core/Src/Check_Shunt_Limits.c
@@ -8,10 +8,9 @@
#include "Check_Shunt_Limits.h"
void CheckShuntLimits() {
- uint32_t tick = HAL_GetTick();
- if (((shuntlastmessage + SHUNT_TIMEOUT) < HAL_GetTick()) &&
- (HAL_GetTick() > 2000)) {
- AMS_Error_Handler(0x06);
+ uint32_t now = HAL_GetTick();
+ if (((shuntlastmessage + SHUNT_TIMEOUT) < now) && (now > 2000)) {
+ AMS_Error_Handler(AMS_ERRORCODE_TIMEOUT_SHUNT, 0, NULL);
}
/*if(shuntcurrent > SHUNT_OVERCURRENT)
{
diff --git a/Core/Src/SPI_Communication.c b/Core/Src/SPI_Communication.c
index 96ec962..9ab7c51 100644
--- a/Core/Src/SPI_Communication.c
+++ b/Core/Src/SPI_Communication.c
@@ -22,7 +22,7 @@ uint8_t spirxbuf[1024];
SlaveHandler slaves[NUMBEROFSLAVES] = {0};
uint16_t min_voltage = 0, max_voltage = 0, min_temp = 0, max_temp = 0;
-ErrorFlagHandler errorflags = {0};
+ErrorFlagHandler spierrorflags = {0};
TSHandler ctrltsstate = {0};
uint8_t spibusy = 0;
@@ -277,28 +277,31 @@ void InterSTMFrame(uint8_t targettsstate) {
uint16_t errorflagbaseaddress = NUMBEROFSLAVES * 89 + 1;
- errorflags.errorcode = spirxbuf[errorflagbaseaddress];
- errorflags.errorargs[0] = spirxbuf[errorflagbaseaddress + 1];
- errorflags.errorargs[1] = spirxbuf[errorflagbaseaddress + 2];
- errorflags.errorargs[2] = spirxbuf[errorflagbaseaddress + 3];
- errorflags.errorargs[3] = spirxbuf[errorflagbaseaddress + 4];
- errorflags.errorargs[4] = spirxbuf[errorflagbaseaddress + 5];
- errorflags.errorargs[5] = spirxbuf[errorflagbaseaddress + 6];
- errorflags.errorargs[6] = spirxbuf[errorflagbaseaddress + 7];
- errorflags.errorargs[7] = spirxbuf[errorflagbaseaddress + 8];
- errorflags.AMS_ERROR_LED = (spirxbuf[errorflagbaseaddress + 9] >> 7) & 0x01;
- errorflags.IMD_ERROR_LED = (spirxbuf[errorflagbaseaddress + 9] >> 6) & 0x01;
- errorflags.IMD_ERROR = (spirxbuf[errorflagbaseaddress + 9] >> 5) & 0x01;
- errorflags.HV_Inactive = (spirxbuf[errorflagbaseaddress + 9] >> 4) & 0x01;
- errorflags.TS_no_voltage_error =
+ spierrorflags.errorcode = spirxbuf[errorflagbaseaddress];
+ spierrorflags.errorargs[0] = spirxbuf[errorflagbaseaddress + 1];
+ spierrorflags.errorargs[1] = spirxbuf[errorflagbaseaddress + 2];
+ spierrorflags.errorargs[2] = spirxbuf[errorflagbaseaddress + 3];
+ spierrorflags.errorargs[3] = spirxbuf[errorflagbaseaddress + 4];
+ spierrorflags.errorargs[4] = spirxbuf[errorflagbaseaddress + 5];
+ spierrorflags.errorargs[5] = spirxbuf[errorflagbaseaddress + 6];
+ spierrorflags.errorargs[6] = spirxbuf[errorflagbaseaddress + 7];
+ // TODO: We can only transmit 7 error flags, we can remove the 8th
+ // errorflags.errorargs[7] = spirxbuf[errorflagbaseaddress + 8];
+ spierrorflags.AMS_ERROR_LED =
+ (spirxbuf[errorflagbaseaddress + 9] >> 7) & 0x01;
+ spierrorflags.IMD_ERROR_LED =
+ (spirxbuf[errorflagbaseaddress + 9] >> 6) & 0x01;
+ spierrorflags.IMD_ERROR = (spirxbuf[errorflagbaseaddress + 9] >> 5) & 0x01;
+ spierrorflags.HV_Inactive = (spirxbuf[errorflagbaseaddress + 9] >> 4) & 0x01;
+ spierrorflags.TS_no_voltage_error =
(spirxbuf[errorflagbaseaddress + 9] >> 3) & 0x01;
- errorflags.negative_AIR_error =
+ spierrorflags.negative_AIR_error =
(spirxbuf[errorflagbaseaddress + 9] >> 2) & 0x01;
- errorflags.positive_AIR_or_PC_error =
+ spierrorflags.positive_AIR_or_PC_error =
(spirxbuf[errorflagbaseaddress + 9] >> 1) & 0x01;
- errorflags.positive_AIR_and_PC_open =
+ spierrorflags.positive_AIR_and_PC_open =
spirxbuf[errorflagbaseaddress + 9] & 0x01;
- errorflags.negative_AIR_open = spirxbuf[errorflagbaseaddress + 10] & 0x01;
+ spierrorflags.negative_AIR_open = spirxbuf[errorflagbaseaddress + 10] & 0x01;
uint16_t tsstatebaseaddress = errorflagbaseaddress + 12;
ctrltsstate.currentTSState = spirxbuf[tsstatebaseaddress + 0];
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 928eb75..caffb9a 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -76,18 +76,35 @@ void setAMSError();
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
-void AMS_Error_Handler(uint8_t ErrorCode);
void Send_Can_Info_Frame(void);
void softTSAL(void);
void CheckCellLimits() {
- if (HAL_GetTick() < 10000) {
+ if (HAL_GetTick() < 12000) {
return;
}
- if (min_temp < THRESH_UT || max_temp > THRESH_OT || min_voltage < THRESH_UV ||
- max_voltage > THRESH_OV) {
- AMS_Error_Handler(0x10);
+ int8_t errorcode = -1;
+ if (min_temp < THRESH_UT) {
+ errorcode = AMS_ERRORFLAG_MASTER_THRESH_UT;
+ }
+ if (max_temp > THRESH_OT) {
+ errorcode = AMS_ERRORFLAG_MASTER_THRESH_OT;
+ }
+ if (min_voltage < THRESH_UV) {
+ errorcode = AMS_ERRORFLAG_MASTER_THRESH_UV;
+ }
+ if (max_voltage > THRESH_OV) {
+ errorcode = AMS_ERRORFLAG_MASTER_THRESH_OV;
+ }
+ if (errorcode != -1) {
+ AMS_Error_Handler(AMS_ERRORCODE_MASTER_THRESH, 1, (uint8_t*)&errorcode);
+ }
+}
+
+void CheckSPIError() {
+ if (spierrorflags.errorcode != 0) {
+ AMS_Error_Handler(spierrorflags.errorcode, 7, spierrorflags.errorargs);
}
}
/* USER CODE END 0 */
@@ -159,6 +176,7 @@ int main(void) {
CAN_SendAbxStatus(&hfdcan1);
CheckShuntLimits();
CheckCellLimits();
+ CheckSPIError();
CAN_SendLoggingFrame(&hfdcan1);
HAL_GPIO_TogglePin(Status_LED_GPIO_Port, Status_LED_Pin);
Temp_Ctrl_Loop();
@@ -410,19 +428,27 @@ static void MX_GPIO_Init(void) {
/* USER CODE BEGIN 4 */
-void AMS_Error_Handler(uint8_t ErrorCode) {
+void AMS_Error_Handler(uint8_t ErrorCode, uint32_t nErrorArgs,
+ uint8_t* ErrorArgs) {
+ ErrorFlagHandler errorflags;
+ errorflags.errorcode = ErrorCode;
+ if (nErrorArgs > 7) {
+ nErrorArgs = 7;
+ }
+ memcpy(errorflags.errorargs, ErrorArgs, nErrorArgs);
+
while (1) {
setAMSError();
- CAN_SendAMSPanic(&hfdcan1);
+ CAN_SendAMSPanic(&hfdcan1, &errorflags);
CAN_Receive(&hfdcan1);
InterSTMFrame(TSTargetState);
}
}
void softTSAL() {
- uint8_t tsoff_condition = errorflags.positive_AIR_and_PC_open &
- errorflags.negative_AIR_open &
- errorflags.HV_Inactive;
+ uint8_t tsoff_condition = spierrorflags.positive_AIR_and_PC_open &
+ spierrorflags.negative_AIR_open &
+ spierrorflags.HV_Inactive;
if (tsoff_condition) {
HAL_GPIO_WritePin(Soft_TSAL_GPIO_Port, Soft_TSAL_Pin,