Handle slave status frames

Core/Inc/can.h

@@ -8,6 +8,7 @@
 #define CAN_ID_SLAVE_PANIC 0x009
 #define CAN_ID_AMS_STATUS 0x00A
 #define CAN_ID_AMS_IN 0x00B
+#define CAN_ID_SLAVE_STATUS 0x014
 #define CAN_ID_SLAVE_LOG 0x4F4
 #define CAN_ID_SHUNT_BASE 0x520
 #define CAN_ID_SHUNT_CURRENT 0x521

Core/Inc/slave_monitoring.h

@@ -20,7 +20,8 @@ typedef enum {
   SLAVE_ERR_OT,
   SLAVE_ERR_UT,
   SLAVE_ERR_OV,
-  SLAVE_ERR_UV
+  SLAVE_ERR_UV,
+  SLAVE_ERR_UNKNOWN,
 } SlaveErrorKind;
 
 typedef struct {
@@ -31,8 +32,10 @@ typedef struct {
 typedef struct {
   uint8_t id;
   SlaveError error;
-  uint16_t voltages[N_CELLS_SERIES];
-  int16_t temperatures[N_TEMP_SENSORS];
+  uint8_t soc;
+  uint16_t min_voltage;
+  uint16_t max_voltage;
+  int16_t max_temp;
   uint32_t last_message;
 } SlaveHandle;
 
@@ -44,6 +47,7 @@ void slaves_init();
 void slaves_check();
 
 void slaves_handle_panic(const uint8_t *data);
+void slaves_handle_status(const uint8_t *data);
 void slaves_handle_log(const uint8_t *data);
 
 #endif // INC_SLAVE_MONITORING_H

Core/Src/can.c

@@ -15,8 +15,8 @@ void can_init(CAN_HandleTypeDef *handle) {
   ftcan_add_filter(CAN_ID_SHUNT_BASE, 0xFF0);
   ftcan_add_filter(CAN_ID_AMS_IN, 0xFFF);
   ftcan_add_filter(CAN_ID_SLAVE_PANIC, 0xFFF);
+  ftcan_add_filter(CAN_ID_SLAVE_STATUS, 0xFFF);
   ftcan_add_filter(CAN_ID_SLAVE_LOG, 0xFFF);
-  // TODO: Slave status?
 }
 
 HAL_StatusTypeDef can_send_status() {
@@ -37,6 +37,9 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
   case CAN_ID_SLAVE_PANIC:
     slaves_handle_panic(data);
     break;
+  case CAN_ID_SLAVE_STATUS:
+    slaves_handle_status(data);
+    break;
   case CAN_ID_SLAVE_LOG:
     slaves_handle_log(data);
     break;

Core/Src/slave_monitoring.c

@@ -20,8 +20,9 @@ void slaves_init() {
     slaves[i].id = i;
     slaves[i].error.kind = SLAVE_ERR_NONE;
     slaves[i].last_message = 0;
-    memset(&slaves[i].voltages, 0, sizeof(slaves[i].voltages));
-    memset(&slaves[i].temperatures, 0, sizeof(slaves[i].temperatures));
+    slaves[i].min_voltage = 0;
+    slaves[i].max_voltage = 0;
+    slaves[i].max_temp = 0;
   }
 
   HAL_GPIO_WritePin(SLAVE_POWER_0_GPIO_Port, SLAVE_POWER_0_Pin, GPIO_PIN_SET);
@@ -47,17 +48,11 @@ void slaves_check() {
     } else if (slaves[i].error.kind == SLAVE_ERR_TIMEOUT) {
       slaves[i].error.kind = SLAVE_ERR_NONE;
     }
-    for (int j = 0; j < N_CELLS_SERIES; j++) {
-      uint16_t v = slaves[i].voltages[j];
-      if (v < min_voltage_new) {
-        min_voltage_new = v;
-      }
-    }
-    for (int j = 0; j < N_TEMP_SENSORS; j++) {
-      int16_t t = slaves[i].temperatures[j];
-      if (t > max_temp_new) {
-        max_temp_new = t;
+    if (slaves[i].min_voltage < min_voltage_new) {
+      min_voltage_new = slaves[i].min_voltage;
     }
+    if (slaves[i].max_temp > max_temp_new) {
+      max_temp_new = slaves[i].max_temp;
     }
 
     if (slaves[i].error.kind != SLAVE_ERR_NONE) {
@@ -93,6 +88,24 @@ void slaves_handle_panic(const uint8_t *data) {
   slaves[slave_id].last_message = HAL_GetTick();
 }
 
+void slaves_handle_status(const uint8_t *data) {
+  uint8_t slave_id = data[0] & 0x7F;
+  int error = data[0] & 0x80;
+  if (error) {
+    if (slaves[slave_id].error.kind == SLAVE_ERR_NONE) {
+      slaves[slave_id].error.kind = SLAVE_ERR_UNKNOWN;
+    }
+  } else {
+    slaves[slave_id].error.kind = SLAVE_ERR_NONE;
+  }
+  slaves[slave_id].soc = data[1];
+  const uint8_t *ptr = &data[2];
+  slaves[slave_id].min_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
+  slaves[slave_id].max_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
+  slaves[slave_id].max_temp = ftcan_unmarshal_unsigned(&ptr, 2);
+  slaves[slave_id].last_message = HAL_GetTick();
+}
+
 void slaves_handle_log(const uint8_t *data) {
   // TODO
 }

STM32-for-VSCode.config.yaml

@@ -10,7 +10,7 @@ target: ams-master-23
 # Can be C or C++
 language: C
 
-optimization: Og
+optimization: O0 -Og
 
 # MCU settings
 targetMCU: stm32f3x
@@ -46,7 +46,6 @@ assemblyFlags: []
 linkerFlags:
   - -specs=nano.specs
 
-
 # libraries to be included. The -l prefix to the library will be automatically added.
 libraries:
   - c
@@ -67,7 +66,6 @@ excludes:
   - "**/example/**"
   - "**_template.*"
 
-
 # Include directories (directories containing .h or .hpp files)
 # If a CubeMX makefile is present it will automatically include the include directories from that makefile.
 includeDirectories:
@@ -83,7 +81,6 @@ includeDirectories:
   - Core/Src/**
   - Core/Lib/**
 
-
 # Files that should be included in the compilation.
 # If a CubeMX makefile is present it will automatically include the  c and cpp/cxx files from that makefile.
 # Glob patterns (https://www.wikiwand.com/en/Glob_(programming)) can be used.
@@ -119,7 +116,6 @@ sourceFiles:
   - Core/Src/**
   - Core/Lib/**
 
-
 # When no makefile is present it will show a warning pop-up.
 # However when compilation without the CubeMX Makefile is desired, this can be turned of.
 suppressMakefileWarning: false
@@ -136,4 +132,3 @@ customMakefileRules:
 makeFlags:
 # - -O  # use this option when the output of make is mixed up only works for make version 4.0 and upwards
 # - --silent # use this option to silence the output of the build
-    

STM32Make.make

@@ -22,7 +22,7 @@ TARGET = ams-master-23
 # debug build?
 DEBUG = 1
 # optimization
-OPT = -Og
+OPT = -O0 -Og
 
 
 #######################################