Send AMS error messages

Core/Inc/can.h

@@ -5,9 +5,12 @@
 #include "stm32f3xx_hal_can.h"
 #include "stm32f3xx_hal_def.h"
 
+#include "ts_state_machine.h"
+
 #define CAN_ID_SLAVE_PANIC 0x009
 #define CAN_ID_AMS_STATUS 0x00A
 #define CAN_ID_AMS_IN 0x00B
+#define CAN_ID_AMS_ERROR 0x00C
 #define CAN_ID_SLAVE_STATUS 0x014
 #define CAN_ID_SLAVE_LOG 0x4F4
 #define CAN_ID_SHUNT_BASE 0x520
@@ -22,6 +25,7 @@
 
 void can_init(CAN_HandleTypeDef *handle);
 HAL_StatusTypeDef can_send_status();
+HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg);
 
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
 

Core/Inc/shunt_monitoring.h

@@ -6,6 +6,7 @@
 #include "stm32f3xx_hal.h"
 
 #define THRESH_OVERCURRENT 300000 // mA
+#define THRESH_OVERTEMP 1000      // 1/10 °C
 
 typedef struct {
   int32_t current;

Core/Inc/ts_state_machine.h

@@ -29,6 +29,14 @@ typedef enum {
   TS_CHARGING
 } TSState;
 
+typedef enum {
+  TS_ERRORKIND_NONE = 0x00,
+  TS_ERRORKIND_SLAVE_TIMEOUT = 0x01,
+  TS_ERRORKIND_SLAVE_PANIC = 0x02,
+  TS_ERRORKIND_SHUNT_TIMEOUT = 0x03,
+  TS_ERRORKIND_SHUNT_OVERCURRENT = 0x04,
+  TS_ERRORKIND_SHUNT_OVERTEMP = 0x05
+} TSErrorKind;
 #define TS_ERROR_SOURCE_SHUNT (1 << 0)
 #define TS_ERROR_SOURCE_SLAVES (1 << 1)
 

Core/Src/can.c

@@ -28,6 +28,13 @@ HAL_StatusTypeDef can_send_status() {
   return ftcan_transmit(CAN_ID_AMS_STATUS, data, sizeof(data));
 }
 
+HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg) {
+  uint8_t data[2];
+  data[0] = kind;
+  data[1] = arg;
+  return ftcan_transmit(CAN_ID_AMS_ERROR, data, sizeof(data));
+}
+
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
   if ((id & 0xFF0) == CAN_ID_SHUNT_BASE) {
     shunt_handle_can_msg(id, data);

Core/Src/shunt_monitoring.c

@@ -23,7 +23,14 @@ void shunt_init() {
 }
 
 void shunt_check() {
-  int is_error = shunt_data.current >= THRESH_OVERCURRENT;
+  int is_error = 0;
+  if (shunt_data.current >= THRESH_OVERCURRENT) {
+    is_error = 1;
+    can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);
+  } else if (shunt_data.busbartemp >= THRESH_OVERTEMP) {
+    is_error = 1;
+    can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);
+  }
   ts_sm_set_error_source(TS_ERROR_SOURCE_SHUNT, is_error);
 }
 

Core/Src/slave_monitoring.c

@@ -1,5 +1,6 @@
 #include "slave_monitoring.h"
 
+#include "can.h"
 #include "main.h"
 #include "ts_state_machine.h"
 
@@ -60,14 +61,18 @@ void slaves_check() {
   uint16_t min_voltage_new = 0xFFFF;
   int16_t max_temp_new = 0xFFFF;
   for (int i = 0; i < N_SLAVES; i++) {
+    // Update timeout errors
     if (now - slaves[i].last_message >= SLAVE_TIMEOUT) {
       // Don't overwrite a different error kind
       if (slaves[i].error.kind == SLAVE_ERR_NONE) {
         slaves[i].error.kind = SLAVE_ERR_TIMEOUT;
+        can_send_error(TS_ERRORKIND_SLAVE_TIMEOUT, slaves[i].id);
       }
     } else if (slaves[i].error.kind == SLAVE_ERR_TIMEOUT) {
       slaves[i].error.kind = SLAVE_ERR_NONE;
     }
+
+    // Determine min/max
     if (slaves[i].min_voltage < min_voltage_new) {
       min_voltage_new = slaves[i].min_voltage;
     }
@@ -107,6 +112,7 @@ void slaves_handle_panic(const uint8_t *data) {
   }
   slaves[idx].error.data = ftcan_unmarshal_unsigned(&data, 4);
   slaves[idx].last_message = HAL_GetTick();
+  can_send_error(TS_ERRORKIND_SLAVE_PANIC, slave_id);
 }
 
 void slaves_handle_status(const uint8_t *data) {