Port FT22 code

Core/Inc/can.h

@@ -0,0 +1,28 @@
+#ifndef INC_CAN_H
+#define INC_CAN_H
+
+#include "stm32f3xx_hal.h"
+#include "stm32f3xx_hal_can.h"
+#include "stm32f3xx_hal_def.h"
+
+#define CAN_ID_SLAVE_PANIC 0x009
+#define CAN_ID_AMS_STATUS 0x00A
+#define CAN_ID_AMS_IN 0x00B
+#define CAN_ID_SLAVE_LOG 0x4F4
+#define CAN_ID_SHUNT_BASE 0x520
+#define CAN_ID_SHUNT_CURRENT 0x521
+#define CAN_ID_SHUNT_VOLTAGE1 0x522
+#define CAN_ID_SHUNT_VOLTAGE2 0x523
+#define CAN_ID_SHUNT_VOLTAGE3 0x524
+#define CAN_ID_SHUNT_TEMP 0x525
+#define CAN_ID_SHUNT_POWER 0x526
+#define CAN_ID_SHUNT_CURRENT_COUNTER 0x527
+#define CAN_ID_SHUNT_ENERGY_COUNTER 0x528
+
+void can_init(CAN_HandleTypeDef *handle);
+HAL_StatusTypeDef can_transmit(uint8_t id, uint8_t *data, size_t datalen);
+HAL_StatusTypeDef can_send_status();
+
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle);
+
+#endif // INC_CAN_H

Core/Inc/shunt_monitoring.h

@@ -0,0 +1,29 @@
+#ifndef INC_SHUNT_MONITORING_H
+#define INC_SHUNT_MONITORING_H
+
+#include <stdint.h>
+
+#include "stm32f3xx_hal.h"
+
+#define THRESH_OVERCURRENT 300000 // mA
+
+typedef struct {
+  int32_t current;
+  int32_t voltage1;
+  int32_t voltage2;
+  int32_t voltage3;
+  int32_t busbartemp;
+  int32_t power;
+  int32_t energy;
+  int32_t current_counter;
+
+  uint32_t last_message;
+} ShuntData;
+extern ShuntData shunt_data;
+
+void shunt_init();
+void shunt_check();
+
+void shunt_handle_can_msg(CAN_RxHeaderTypeDef *header, uint8_t *data);
+
+#endif // INC_SHUNT_MONITORING_H

Core/Inc/slave_monitoring.h

@@ -0,0 +1,49 @@
+#ifndef INC_SLAVE_MONITORING_H
+#define INC_SLAVE_MONITORING_H
+
+#include <stdint.h>
+
+#define N_SLAVES 6
+#define N_CELLS_SERIES 17
+#define N_CELLS_PARALLEL 5
+#define N_TEMP_SENSORS 32
+
+#define SLAVE_TIMEOUT 500
+#define SLAVE_PANIC_OT 0
+#define SLAVE_PANIC_UT 1
+#define SLAVE_PANIC_OV 2
+#define SLAVE_PANIC_UV 3
+
+typedef enum {
+  SLAVE_ERR_NONE,
+  SLAVE_ERR_TIMEOUT,
+  SLAVE_ERR_OT,
+  SLAVE_ERR_UT,
+  SLAVE_ERR_OV,
+  SLAVE_ERR_UV
+} SlaveErrorKind;
+
+typedef struct {
+  SlaveErrorKind kind;
+  uint32_t data; // Cell/temperature ID etc
+} SlaveError;
+
+typedef struct {
+  uint8_t id;
+  SlaveError error;
+  uint16_t voltages[N_CELLS_SERIES];
+  int16_t temperatures[N_TEMP_SENSORS];
+  uint32_t last_message;
+} SlaveHandle;
+
+extern SlaveHandle slaves[N_SLAVES];
+extern uint16_t min_voltage;
+extern int16_t max_temp;
+
+void slaves_init();
+void slaves_check();
+
+void slaves_handle_panic(uint8_t *data);
+void slaves_handle_log(uint8_t *data);
+
+#endif // INC_SLAVE_MONITORING_H

Core/Inc/soc_estimation.h

@@ -0,0 +1,11 @@
+#ifndef INC_SOC_ESTIMATION_H
+#define INC_SOC_ESTIMATION_H
+
+#include <stdint.h>
+
+extern uint8_t current_soc;
+
+void soc_init();
+void soc_update();
+
+#endif // INC_SOC_ESTIMATION_H

Core/Inc/stm32f3xx_it.h

@@ -55,6 +55,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void USB_LP_CAN_RX0_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Inc/ts_state_machine.h

@@ -0,0 +1,60 @@
+#ifndef INC_TS_STATE_MACHINE_H
+#define INC_TS_STATE_MACHINE_H
+
+#include "stm32f3xx_hal.h"
+
+#include <stdint.h>
+
+// Minimum vehicle side voltage to exit precharge
+#define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV
+// Time to wait after reaching 95% of battery voltage before exiting precharge
+#define PRECHARGE_95_DURATION 500 // ms
+// Time to wait after there is no more error condition before exiting TS_ERROR
+#define NO_ERROR_TIME 1000 // ms
+// Time to wait for charger voltage before going to TS_ERROR
+#define MAX_CHARGING_CHECK_DURATION 2000 // ms
+// Time to wait between closing relays
+#define RELAY_CLOSE_WAIT 10 // ms
+
+typedef enum {
+  TS_INACTIVE,
+  TS_ACTIVE,
+  TS_PRECHARGE,
+  TS_DISCHARGE,
+  TS_ERROR,
+  TS_CHARGING_CHECK,
+  TS_CHARGING
+} TSState;
+
+#define TS_ERROR_SOURCE_SHUNT (1 << 0)
+#define TS_ERROR_SOURCE_SLAVES (1 << 1)
+
+typedef struct {
+  TSState current_state;
+  TSState target_state;
+  uint32_t error;
+} TSStateHandle;
+
+extern TSStateHandle ts_state;
+
+void ts_sm_init();
+void ts_sm_update();
+
+TSState ts_sm_update_inactive();
+TSState ts_sm_update_active();
+TSState ts_sm_update_precharge();
+TSState ts_sm_update_discharge();
+TSState ts_sm_update_error();
+TSState ts_sm_update_charging_check();
+TSState ts_sm_update_charging();
+
+typedef enum { RELAY_NEG, RELAY_POS, RELAY_PRECHARGE } Relay;
+void ts_sm_set_relay_positions(TSState state);
+void ts_sm_set_relay_position(Relay relay, int closed);
+void ts_sm_check_close_wait(int *is_closed, int should_close);
+
+void ts_sm_handle_ams_in(uint8_t *data);
+
+void ts_sm_set_error_source(uint32_t flag, int state);
+
+#endif // INC_TS_STATE_MACHINE_H

Core/Inc/util.h

@@ -0,0 +1,12 @@
+#ifndef INC_UTIL_H
+#define INC_UTIL_H
+
+#include <stdint.h>
+
+void set_error_led();
+
+uint64_t ntohll(uint64_t netlonglong);
+uint32_t ntohl(uint32_t netlong);
+uint16_t ntohs(uint16_t netshort);
+
+#endif // INC_UTIL_H