Import Master_Control code

Core/Inc/AIR_State_Maschine.h

@@ -0,0 +1,61 @@
+/*
+ * AIR_State_Maschine.h
+ *
+ *  Created on: Jun 15, 2022
+ *      Author: max
+ */
+
+#ifndef INC_AIR_STATE_MASCHINE_H_
+#define INC_AIR_STATE_MASCHINE_H_
+
+#include "main.h"
+
+#include "stm32g431xx.h"
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
+
+#define TS_INACTIVE 0
+#define TS_PRECHARGE 2
+#define TS_DISCHARGE 3
+#define TS_ERROR 4
+#define TS_ACTIVE 1
+#define TS_CHARGING_CHECK 5
+#define TS_CHARGING 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
+
+typedef struct {
+
+  int32_t BatteryVoltageVehicleSide;
+  int32_t BatteryVoltageBatterySide;
+  int32_t shuntCurrent;
+  uint8_t targetTSState;
+  uint8_t currentTSState;
+  uint32_t precharge95ReachedTimestamp;
+  uint32_t chargingCheckTimestamp;
+
+} AIRStateHandler;
+
+AIRStateHandler init_AIR_State_Maschine();
+
+void Update_AIR_Info(AIRStateHandler* airstate);
+uint8_t Update_AIR_State(AIRStateHandler* airstate);
+void Activate_TS(AIRStateHandler* airstate);
+void Deactivate_TS(AIRStateHandler* airstate);
+
+void AIR_Precharge_Position();
+void AIR_Inactive_Position();
+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

@@ -0,0 +1,18 @@
+/*
+ * AMS_Errorcodes.h
+ *
+ *  Created on: Jun 16, 2022
+ *      Author: max
+ */
+
+#ifndef INC_AMS_ERRORCODES_H_
+#define INC_AMS_ERRORCODES_H_
+
+#include "main.h"
+
+#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

@@ -0,0 +1,52 @@
+/*
+ * CAN_Communication.h
+ *
+ *  Created on: Apr 26, 2022
+ *      Author: max
+ */
+
+#ifndef INC_CAN_COMMUNICATION_H_
+#define INC_CAN_COMMUNICATION_H_
+
+#include "AMS_Errorcodes.h"
+#include "Slave_Monitoring.h"
+#include "main.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_fdcan.h"
+
+#define CANFRAMEBUFFERSIZE 512
+
+// Frame ID = Base Address + Slave ID + MessageNr.
+#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;
+  uint8_t data[8];
+  uint8_t length;
+  uint32_t timestamp;
+  uint8_t error;
+
+} canFrame;
+
+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);
+
+void CAN_Init(FDCAN_HandleTypeDef* hcan);
+uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan);
+uint8_t CAN_Transmit(FDCAN_HandleTypeDef* hcan, uint16_t frameid,
+                     uint8_t* buffer, uint8_t datalen);
+void updateSlaveInfo(uint8_t slaveID, uint8_t MessageID, canFrame rxFrame);
+
+#endif /* INC_CAN_COMMUNICATION_H_ */

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/Error_Check.h

@@ -0,0 +1,30 @@
+/*
+ * Error_Check.h
+ *
+ *  Created on: Jun 16, 2022
+ *      Author: max
+ */
+
+#ifndef INC_ERROR_CHECK_H_
+#define INC_ERROR_CHECK_H_
+
+#include "main.h"
+
+typedef struct {
+  uint8_t IMD_ERROR;
+  uint8_t AMS_ERROR_LED;
+  uint8_t IMD_ERROR_LED;
+
+  uint8_t TS_no_voltage_error;
+  uint8_t positive_AIR_or_PC_error;
+  uint8_t negative_AIR_error;
+
+  uint8_t HV_inactive;
+  uint8_t negative_AIR_open;
+  uint8_t positive_AIR_and_PC_open;
+
+} ErrorFlags;
+
+ErrorFlags CheckErrorFlags();
+
+#endif /* INC_ERROR_CHECK_H_ */

Core/Inc/Slave_Monitoring.h

@@ -0,0 +1,44 @@
+/*
+ * Slave_Monitoring.h
+ *
+ *  Created on: Jun 15, 2022
+ *      Author: max
+ */
+
+#ifndef INC_SLAVE_MONITORING_H_
+#define INC_SLAVE_MONITORING_H_
+
+#include "AMS_Errorcodes.h"
+#include "Error_Check.h"
+#include "main.h"
+
+#include "stm32g431xx.h"
+
+#define NUMBEROFSLAVES 9
+#define NUMBEROFCELLS 10
+#define NUMBEROFTEMPS 32
+
+#define SLAVETIMEOUT 5000
+#define SLAVE_HEARTBEAT_FRAMES 11
+// 30% * 90 = 27, each sensor measures 2 cells
+#define SLAVE_MIN_TEMP_SENSORS 14
+
+typedef struct {
+
+  uint16_t slaveID;
+  uint16_t cellVoltages[NUMBEROFCELLS];
+  uint16_t cellTemps[NUMBEROFTEMPS];
+  uint32_t timestamp;
+  uint8_t error;
+  uint8_t timeout;
+  uint32_t frame_timestamps[SLAVE_HEARTBEAT_FRAMES];
+  uint8_t error_frame[8];
+
+} SlaveHandler;
+
+extern SlaveHandler slaves[NUMBEROFSLAVES];
+
+void initSlaves();
+uint8_t checkSlaveTimeout();
+
+#endif /* INC_SLAVE_MONITORING_H_ */

Core/Inc/main.h

@@ -36,7 +36,10 @@ extern "C" {
 
 /* Exported types ------------------------------------------------------------*/
 /* USER CODE BEGIN ET */
-
+typedef struct {
+  uint8_t errorcode;
+  uint8_t errorarg[8];
+} AMSErrorHandle;
 /* USER CODE END ET */
 
 /* Exported constants --------------------------------------------------------*/
@@ -55,7 +58,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
 void Error_Handler(void);
 
 /* USER CODE BEGIN EFP */
-
+void AMS_Error_Handler(AMSErrorHandle*);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/