first soap ideals

untested. Maybe revert to Jaspers Version

.gitignore

@@ -3,3 +3,4 @@
 /.cache/
 .clangd
 TouchGFX/build
+.gitmodules

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "Core/Lib/can-halal"]
+	path = Core/Lib/can-halal
+	url = https://git.fasttube.de/FaSTTUBe/can-halal.git

Core/Inc/can.h

@@ -5,9 +5,13 @@
 #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_BASE 0x080
 #define CAN_ID_SLAVE_LOG 0x4F4
 #define CAN_ID_SHUNT_BASE 0x520
 #define CAN_ID_SHUNT_CURRENT 0x521
@@ -20,9 +24,9 @@
 #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();
+HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg);
 
-void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle);
+void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
 
 #endif // INC_CAN_H

Core/Inc/main.h

@@ -41,7 +41,7 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 /* USER CODE BEGIN EC */
-
+extern int sdc_closed;
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/
@@ -97,8 +97,8 @@ void Error_Handler(void);
 #define STATUS3_GPIO_Port GPIOB
 #define STATUS4_Pin GPIO_PIN_7
 #define STATUS4_GPIO_Port GPIOB
-#define AMS_ERROR_Pin GPIO_PIN_8
-#define AMS_ERROR_GPIO_Port GPIOB
+#define AMS_NERROR_Pin GPIO_PIN_8
+#define AMS_NERROR_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/shunt_monitoring.h

@@ -5,12 +5,14 @@
 
 #include "stm32f3xx_hal.h"
 
-#define THRESH_OVERCURRENT 300000 // mA
+#define SHUNT_TIMEOUT 300               // ms
+#define SHUNT_THRESH_OVERCURRENT 300000 // mA
+#define SHUNT_THRESH_OVERTEMP 1000      // 1/10 °C
 
 typedef struct {
   int32_t current;
-  int32_t voltage1;
-  int32_t voltage2;
+  int32_t voltage_bat;
+  int32_t voltage_veh;
   int32_t voltage3;
   int32_t busbartemp;
   int32_t power;
@@ -24,6 +26,8 @@ extern ShuntData shunt_data;
 void shunt_init();
 void shunt_check();
 
-void shunt_handle_can_msg(CAN_RxHeaderTypeDef *header, uint8_t *data);
+void shunt_handle_can_msg(uint16_t id, const uint8_t *data);
+
+int32_t shunt_getcurrent();
 
 #endif // INC_SHUNT_MONITORING_H

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;
 
@@ -43,7 +46,9 @@ 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);
+void slaves_handle_panic(const uint8_t *data);
+void slaves_handle_status(const uint8_t *data);
+void slaves_handle_log(const uint8_t *data);
+uint16_t slaves_get_minimum_voltage();
 
 #endif // INC_SLAVE_MONITORING_H

Core/Inc/soc_estimation.h

@@ -5,7 +5,14 @@
 
 extern uint8_t current_soc;
 
+
+#define N_MODELPARAMETERS 11
+#define BATTERYCAPACITYAs (20000.0*3600) //TODO Check if value is correct Cap in Ah * 3600 (Convert to As)
+#define SOAP_MINIMUM_VOLTAGE 2.5
+
 void soc_init();
-void soc_update();
+void soc_update(int32_t shunt_current);
+float soe_update();
+void soap_update();
 
 #endif // INC_SOC_ESTIMATION_H

Core/Inc/ts_state_machine.h

@@ -8,7 +8,10 @@
 // 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
+// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
+#define PRECHARGE_95_DURATION 0 // ms
+// Time to wait for discharge
+#define DISCHARGE_DURATION 5000 // 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
@@ -26,6 +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)
 
@@ -53,7 +64,7 @@ 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_handle_ams_in(const uint8_t *data);
 
 void ts_sm_set_error_source(uint32_t flag, int state);
 

Core/Inc/util.h

@@ -5,8 +5,4 @@
 
 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

Core/Src/can.c

@@ -4,89 +4,46 @@
 #include "shunt_monitoring.h"
 #include "slave_monitoring.h"
 #include "soc_estimation.h"
-#include "stm32f3xx_hal_can.h"
-#include "stm32f3xx_hal_gpio.h"
 #include "ts_state_machine.h"
-#include "util.h"
+
+#include "can-halal.h"
+
 #include <stdint.h>
 
-static CAN_HandleTypeDef *hcan;
-
 void can_init(CAN_HandleTypeDef *handle) {
-  hcan = handle;
-
-  CAN_FilterTypeDef filter;
-  filter.FilterIdHigh = CAN_ID_SHUNT_BASE & 0xFF0;
-  filter.FilterMaskIdHigh = 0xFF0;
-  filter.FilterIdLow = CAN_ID_AMS_IN;
-  filter.FilterMaskIdLow = 0xFFF;
-  filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
-  filter.FilterBank = 0;
-  filter.FilterMode = CAN_FILTERMODE_IDMASK;
-  filter.FilterScale = CAN_FILTERSCALE_16BIT;
-  if (HAL_CAN_ConfigFilter(hcan, &filter) != HAL_OK) {
-    Error_Handler();
-  }
-  // TODO: Slave status?
-  filter.FilterIdHigh = CAN_ID_SLAVE_PANIC;
-  filter.FilterMaskIdHigh = 0xFFF;
-  filter.FilterIdLow = CAN_ID_SLAVE_LOG;
-  filter.FilterMaskIdLow = 0xFFF;
-  filter.FilterBank = 1;
-  if (HAL_CAN_ConfigFilter(hcan, &filter) != HAL_OK) {
-    Error_Handler();
-  }
-
-  if (HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING) !=
-      HAL_OK) {
-    Error_Handler();
-  }
-  if (HAL_CAN_Start(hcan) != HAL_OK) {
-    Error_Handler();
-  }
-}
-
-HAL_StatusTypeDef can_transmit(uint8_t id, uint8_t *data, size_t datalen) {
-  static CAN_TxHeaderTypeDef header;
-  header.StdId = id;
-  header.IDE = CAN_ID_STD;
-  header.RTR = CAN_RTR_DATA;
-  header.DLC = datalen;
-
-  uint32_t mailbox;
-  return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
+  ftcan_init(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_BASE, 0xFF0);
+  ftcan_add_filter(CAN_ID_SLAVE_LOG, 0xFFF);
 }
 
 HAL_StatusTypeDef can_send_status() {
-  uint8_t data[4];
-  data[0] = ts_state.current_state;
+  uint8_t data[6];
+  data[0] = ts_state.current_state | (sdc_closed << 7);
   data[1] = current_soc;
-  data[2] = min_voltage >> 8;
-  data[3] = max_temp >> 8;
-  return can_transmit(CAN_ID_AMS_STATUS, data, 4);
+  ftcan_marshal_unsigned(&data[2], min_voltage, 2);
+  ftcan_marshal_signed(&data[4], max_temp, 2);
+  return ftcan_transmit(CAN_ID_AMS_STATUS, data, sizeof(data));
 }
 
-void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
-  if (handle != hcan) {
-    return;
-  }
+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));
+}
 
-  CAN_RxHeaderTypeDef header;
-  uint8_t data[8];
-  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
-    set_error_led();
+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);
+    return;
+  } else if ((id & 0xFF0) == CAN_ID_SLAVE_STATUS_BASE) {
+    slaves_handle_status(data);
     return;
   }
-
-  if (header.IDE != CAN_ID_STD) {
-    return;
-  }
-
-  if ((header.StdId & 0xFF0) == CAN_ID_SHUNT_BASE) {
-    shunt_handle_can_msg(&header, data);
-    return;
-  }
-  switch (header.StdId) {
+  switch (id) {
   case CAN_ID_SLAVE_PANIC:
     slaves_handle_panic(data);
     break;

Core/Src/main.c

@@ -50,12 +50,13 @@
 /* Private variables ---------------------------------------------------------*/
 ADC_HandleTypeDef hadc2;
 
+
 CAN_HandleTypeDef hcan;
 
 UART_HandleTypeDef huart1;
 
 /* USER CODE BEGIN PV */
-
+int sdc_closed = 0;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -70,7 +71,19 @@ static void MX_USART1_UART_Init(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
+#define MAIN_LOOP_PERIOD 50
 
+static void loop_delay() {
+  static uint32_t last_loop = 0;
+  uint32_t dt = HAL_GetTick() - last_loop;
+  if (dt < MAIN_LOOP_PERIOD) {
+    HAL_Delay(MAIN_LOOP_PERIOD - dt);
+    HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_RESET);
+  } else {
+    HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_SET);
+  }
+  last_loop = HAL_GetTick();
+}
 /* USER CODE END 0 */
 
 /**
@@ -79,7 +92,7 @@ static void MX_USART1_UART_Init(void);
  */
 int main(void) {
   /* USER CODE BEGIN 1 */
-
+  uint8_t soc_init_complete = 0;
   /* USER CODE END 1 */
 
   /* MCU Configuration--------------------------------------------------------*/
@@ -109,7 +122,7 @@ int main(void) {
   slaves_init();
   shunt_init();
   ts_sm_init();
-  soc_init();
+  HAL_GPIO_WritePin(AMS_NERROR_GPIO_Port, AMS_NERROR_Pin, GPIO_PIN_SET);
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -119,14 +132,23 @@ int main(void) {
 
     /* USER CODE BEGIN 3 */
     HAL_GPIO_TogglePin(STATUS1_GPIO_Port, STATUS1_Pin);
+    sdc_closed = HAL_GPIO_ReadPin(SDC_VOLTAGE_GPIO_Port, SDC_VOLTAGE_Pin) ==
+                 GPIO_PIN_SET;
 
     slaves_check();
     shunt_check();
     ts_sm_update();
-    soc_update();
+    if(soc_init_complete){
+      soc_update(shunt_getcurrent());
+    }
+    else
+    {
+      soc_init();
+      soc_init_complete = 1;
+    }
     can_send_status();
+    loop_delay();
 
-    HAL_Delay(10);
   }
   /* USER CODE END 3 */
 }
@@ -315,7 +337,8 @@ static void MX_GPIO_Init(void) {
                     SLAVE_POWER_1_Pin | SLAVE_POWER_DSEL_Pin |
                         SLAVE_POWER_DEN_Pin | SLAVE_POWER_0_Pin |
                         POS_AIR_CTRL_Pin | NEG_AIR_CTRL_Pin | STATUS1_Pin |
-                        STATUS2_Pin | STATUS3_Pin | STATUS4_Pin | AMS_ERROR_Pin,
+                        STATUS2_Pin | STATUS3_Pin | STATUS4_Pin |
+                        AMS_NERROR_Pin,
                     GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
@@ -340,11 +363,11 @@ static void MX_GPIO_Init(void) {
 
   /*Configure GPIO pins : SLAVE_POWER_1_Pin SLAVE_POWER_DSEL_Pin
      SLAVE_POWER_DEN_Pin SLAVE_POWER_0_Pin POS_AIR_CTRL_Pin NEG_AIR_CTRL_Pin
-     STATUS1_Pin STATUS2_Pin STATUS3_Pin STATUS4_Pin AMS_ERROR_Pin */
-  GPIO_InitStruct.Pin = SLAVE_POWER_1_Pin | SLAVE_POWER_DSEL_Pin |
-                        SLAVE_POWER_DEN_Pin | SLAVE_POWER_0_Pin |
-                        POS_AIR_CTRL_Pin | NEG_AIR_CTRL_Pin | STATUS1_Pin |
-                        STATUS2_Pin | STATUS3_Pin | STATUS4_Pin | AMS_ERROR_Pin;
+     STATUS1_Pin STATUS2_Pin STATUS3_Pin STATUS4_Pin AMS_NERROR_Pin */
+  GPIO_InitStruct.Pin =
+      SLAVE_POWER_1_Pin | SLAVE_POWER_DSEL_Pin | SLAVE_POWER_DEN_Pin |
+      SLAVE_POWER_0_Pin | POS_AIR_CTRL_Pin | NEG_AIR_CTRL_Pin | STATUS1_Pin |
+      STATUS2_Pin | STATUS3_Pin | STATUS4_Pin | AMS_NERROR_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -374,6 +397,9 @@ void Error_Handler(void) {
   /* User can add his own implementation to report the HAL error return state */
   __disable_irq();
   while (1) {
+    ts_sm_set_relay_position(RELAY_NEG, 0);
+    ts_sm_set_relay_position(RELAY_POS, 0);
+    ts_sm_set_relay_position(RELAY_PRECHARGE, 0);
   }
   /* USER CODE END Error_Handler_Debug */
 }

Core/Src/shunt_monitoring.c

@@ -6,12 +6,14 @@
 #include "ts_state_machine.h"
 #include "util.h"
 
+#include "can-halal.h"
+
 ShuntData shunt_data;
 
 void shunt_init() {
   shunt_data.current = 0;
-  shunt_data.voltage1 = 0;
-  shunt_data.voltage2 = 0;
+  shunt_data.voltage_veh = 0;
+  shunt_data.voltage_bat = 0;
   shunt_data.voltage3 = 0;
   shunt_data.busbartemp = 0;
   shunt_data.power = 0;
@@ -21,32 +23,35 @@ void shunt_init() {
 }
 
 void shunt_check() {
-  int is_error = shunt_data.current >= THRESH_OVERCURRENT;
+  int is_error = 0;
+  if (HAL_GetTick() - shunt_data.last_message > SHUNT_TIMEOUT) {
+    is_error = 1;
+    can_send_error(TS_ERRORKIND_SHUNT_TIMEOUT, 0);
+  } else if (shunt_data.current >= SHUNT_THRESH_OVERCURRENT) {
+    is_error = 1;
+    can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);
+  } else if (shunt_data.busbartemp >= SHUNT_THRESH_OVERTEMP) {
+    is_error = 1;
+    can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);
+  }
   ts_sm_set_error_source(TS_ERROR_SOURCE_SHUNT, is_error);
 }
 
-void shunt_handle_can_msg(CAN_RxHeaderTypeDef *header, uint8_t *data) {
-  // All result messages contain a big-endian 6-byte integer
-  data[7] = 0;
-  data[8] = 0;
-  uint64_t result;
-  memcpy(&result, data, 8);
-  result = ntohll(result);
-  // Top two bytes should always be zero in our usecase (or 0xFF for a signed
-  // number)
-  if ((result >> 4) != 0 && (result >> 4) != 0xFFFF) {
-    set_error_led();
-  }
+void shunt_handle_can_msg(uint16_t id, const uint8_t *data) {
+  shunt_data.last_message = HAL_GetTick();
 
-  switch (header->StdId) {
+  // All result messages contain a big-endian 6-byte integer
+  uint64_t result = ftcan_unmarshal_unsigned(&data, 6);
+
+  switch (id) {
   case CAN_ID_SHUNT_CURRENT:
     shunt_data.current = result;
     break;
   case CAN_ID_SHUNT_VOLTAGE1:
-    shunt_data.voltage1 = result;
+    shunt_data.voltage_bat = result;
     break;
   case CAN_ID_SHUNT_VOLTAGE2:
-    shunt_data.voltage2 = result;
+    shunt_data.voltage_veh = result;
     break;
   case CAN_ID_SHUNT_VOLTAGE3:
     shunt_data.voltage3 = result;
@@ -65,3 +70,8 @@ void shunt_handle_can_msg(CAN_RxHeaderTypeDef *header, uint8_t *data) {
     break;
   }
 }
+
+int32_t shunt_getcurrent()
+{
+  return shunt_data.current;
+}

Core/Src/slave_monitoring.c

@@ -1,8 +1,11 @@
 #include "slave_monitoring.h"
 
+#include "can.h"
 #include "main.h"
 #include "ts_state_machine.h"
 
+#include "can-halal.h"
+
 #include "stm32f3xx_hal.h"
 #include "stm32f3xx_hal_gpio.h"
 
@@ -13,13 +16,34 @@ SlaveHandle slaves[N_SLAVES];
 uint16_t min_voltage;
 int16_t max_temp;
 
+static uint8_t slave_id_to_index[128] = {0xFF};
+
+static size_t get_slave_index(uint8_t slave_id) {
+  // Slave IDs are 7-bit, so we can use a 128-element array to map them to
+  // indices. 0xFF is used to mark unseen slave IDs, since the highest index we
+  // could need is N_SLAVES - 1 (i.e. 5).
+  static size_t next_slave_index = 0;
+  if (slave_id_to_index[slave_id] == 0xFF) {
+    if (next_slave_index >= N_SLAVES) {
+      // We've seen more than N_SLAVES slave IDs, this shouldn't happen.
+      Error_Handler();
+    }
+    slave_id_to_index[slave_id] = next_slave_index;
+    slaves[next_slave_index].id = slave_id;
+    next_slave_index++;
+  }
+  return slave_id_to_index[slave_id];
+}
+
 void slaves_init() {
+  memset(slave_id_to_index, 0xFF, sizeof(slave_id_to_index));
   for (int i = 0; i < N_SLAVES; i++) {
-    slaves[i].id = i;
+    slaves[i].id = 0xFF;
     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);
@@ -37,25 +61,23 @@ 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;
     }
-    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;
-      }
+
+    // Determine min/max
+    if (slaves[i].min_voltage < min_voltage_new) {
+      min_voltage_new = slaves[i].min_voltage;
     }
-    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].max_temp > max_temp_new) {
+      max_temp_new = slaves[i].max_temp;
     }
 
     if (slaves[i].error.kind != SLAVE_ERR_NONE) {
@@ -65,31 +87,63 @@ void slaves_check() {
   min_voltage = min_voltage_new;
   max_temp = max_temp_new;
 
-  if (any_slave_error) {
-    ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, 1);
-  }
+  ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, any_slave_error);
 }
 
-void slaves_handle_panic(uint8_t *data) {
-  uint8_t slave_id = data[0];
-  switch (data[1]) {
+void slaves_handle_panic(const uint8_t *data) {
+  uint8_t slave_id = ftcan_unmarshal_unsigned(&data, 1);
+  uint8_t idx = get_slave_index(slave_id);
+  uint8_t error_kind = ftcan_unmarshal_unsigned(&data, 1);
+  switch (error_kind) {
   case SLAVE_PANIC_OT:
-    slaves[slave_id].error.kind = SLAVE_ERR_OT;
+    slaves[idx].error.kind = SLAVE_ERR_OT;
     break;
   case SLAVE_PANIC_UT:
-    slaves[slave_id].error.kind = SLAVE_ERR_UT;
+    slaves[idx].error.kind = SLAVE_ERR_UT;
     break;
   case SLAVE_PANIC_OV:
-    slaves[slave_id].error.kind = SLAVE_ERR_OV;
+    slaves[idx].error.kind = SLAVE_ERR_OV;
     break;
   case SLAVE_PANIC_UV:
-    slaves[slave_id].error.kind = SLAVE_ERR_UV;
+    slaves[idx].error.kind = SLAVE_ERR_UV;
     break;
   }
-  memcpy(&slaves[slave_id].error.data, &data[2], 4);
-  slaves[slave_id].last_message = HAL_GetTick();
+  slaves[idx].error.data = ftcan_unmarshal_unsigned(&data, 4);
+  slaves[idx].last_message = HAL_GetTick();
+  ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, 1);
+  can_send_error(TS_ERRORKIND_SLAVE_PANIC, slave_id);
 }
 
-void slaves_handle_log(uint8_t *data) {
+void slaves_handle_status(const uint8_t *data) {
+  uint8_t slave_id = data[0] & 0x7F;
+  uint8_t idx = get_slave_index(slave_id);
+  int error = data[0] & 0x80;
+  if (error) {
+    if (slaves[idx].error.kind == SLAVE_ERR_NONE) {
+      slaves[idx].error.kind = SLAVE_ERR_UNKNOWN;
+    }
+  } else {
+    slaves[idx].error.kind = SLAVE_ERR_NONE;
+  }
+  slaves[idx].soc = data[1];
+  const uint8_t *ptr = &data[2];
+  slaves[idx].min_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
+  slaves[idx].max_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
+  slaves[idx].max_temp = ftcan_unmarshal_unsigned(&ptr, 2);
+  slaves[idx].last_message = HAL_GetTick();
+}
+
+void slaves_handle_log(const uint8_t *data) {
   // TODO
 }
+
+uint16_t slaves_get_minimum_voltage()
+{
+  uint16_t minvoltage = 50000;
+  for(uint8_t idx = 0; idx < N_SLAVES;idx++){
+    if(slaves->min_voltage < minvoltage){
+      min_voltage = slaves->min_voltage;
+    }
+  }
+  return minvoltage;
+}

Core/Src/soc_estimation.c

@@ -1,14 +1,118 @@
 #include "soc_estimation.h"
 
 #include <stdint.h>
+#include "slave_monitoring.h"
+#include "stm32f3xx_hal.h"
 
+
+//------------------------------------Battery RC and OCV-SoC Parameters-----------------------------------------
+//@Note Parameters were obtained by EIS Measurements at the start of the season
+//If the errror with this values is to large, consider retesting some cells
+const float SOC[N_MODELPARAMETERS]={0,0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1};
+const float R0[N_MODELPARAMETERS]={0.0089,0.0087,0.0090,0.0087,0.0087,0.0087,0.0088,0.0088,0.0087,0.0088,0.0089};
+const float R1[N_MODELPARAMETERS]={0.0164,0.0063,0.0050,0.0055,0.0051,0.0052,0.0057,0.0048,0.0059,0.0055,0.0061};
+const float C1[N_MODELPARAMETERS]={2.5694,0.2649,0.2876,0.2594,0.2415,0.2360,0.2946,0.2558,0.2818,0.2605,0.2763};
+const float OCV_Data[N_MODELPARAMETERS]={2.762504,3.326231,3.460875,3.57681,3.655326,3.738444,3.835977,3.925841,4.032575,4.078275,4.191449};
+const float SOE_Data[N_MODELPARAMETERS]={0.0,0.079358,0.165140,0.256008,0.348836,0.445961,0.549115,0.655642,0.769677,0.875699,1.0};
+//---------------------------------------------------------------------------------------------------------------
+
+
+
+float soc_approxparameterbysoc(float,float*, uint8_t);
+float soc_approxsocbyocv(float);
 uint8_t current_soc;
+float current_floatsoc;
 
+float batterycapacity;
+
+
+/**
+ * @brief This Function initializes the SoC Prediction
+ * @note Because SoC is initalized using the OCV-Curve of the Cell, it is necessary to obtain a valid value
+ * for the lowest cell voltage before calling this function
+ */
 void soc_init() {
-  current_soc = 0;
-  // TODO
+  float minvoltage = ((float)slaves_get_minimum_voltage())/1000;
+  current_floatsoc = soc_approxsocbyocv(minvoltage);
+  batterycapacity = BATTERYCAPACITYAs*current_floatsoc;
+  current_soc = (uint8_t)(current_floatsoc*100);
 }
 
-void soc_update() {
+/**
+ * @brief Update Function for the State of Charge. Call this Function every time the shunt sends a new current
+ * @note The SoC Prediction works using a Coulomb Counter to track the SoC. Alternativly and maybe more elegant
+ * would be to track the SoC using the integrated current counter of the shunt.
+ * @param shunt_current 
+ */
+void soc_update(int32_t shunt_current) {
   // TODO
+  static uint32_t lasttick = 0;
+
+  if(lasttick != 0)
+  {
+    uint32_t dt = HAL_GetTick() - lasttick;
+    batterycapacity += batterycapacity + ((float) dt*shunt_current)/1000;
+    current_floatsoc = batterycapacity/BATTERYCAPACITYAs;
+    current_soc = (uint8_t) (current_floatsoc*100);
+  }
+  
+  lasttick=HAL_GetTick();
+
 }
+
+float soe_update()
+{
+  return soc_approxparameterbysoc(current_floatsoc, SOE_Data, N_MODELPARAMETERS);
+}
+void soap_update()
+{
+  float r0 = soc_approxparameterbysoc(current_floatsoc, R0, N_MODELPARAMETERS);
+  float r1 = soc_approxparameterbysoc(current_floatsoc, R1, N_MODELPARAMETERS);
+  float ocv = soc_approxparameterbysoc(current_floatsoc, OCV_Data, N_MODELPARAMETERS);
+
+  float allowedvoltagedrop = ocv - SOAP_MINIMUM_VOLTAGE;
+  float rin = r0+r1;
+  float maxcurrent = allowedvoltagedrop/rin;
+  //TODO think about how to pass parameters
+
+}
+
+float soc_approxparameterbysoc(float soc,float* lut, uint8_t lutlen)
+{
+  
+  uint8_t idx = (uint8_t) (soc*(lutlen-1));
+
+  if(idx == (lutlen-1))
+    return lut[lutlen-1];
+
+  float linapprox = 10*(soc-(((float)idx)/((float)(lutlen-1))))*(lut[idx+1]-lut[idx]);
+  linapprox += lut[idx];
+  return linapprox;
+}
+
+float soc_approxsocbyocv(float ocv)
+{
+
+  if(ocv < OCV_Data[0])
+    return 0;
+
+  if(ocv > OCV_Data[N_MODELPARAMETERS])
+    return 1;
+  //Iterate through OCV Lookup
+  uint8_t ocvindex = 0;
+  for(uint8_t i = 0; i < (N_MODELPARAMETERS-1);i++)
+  {
+    if((OCV_Data[i] <= ocv) && (OCV_Data[i+1] > ocv))
+    {
+      ocvindex = i;
+    }
+  }
+  
+  float m = (ocv-OCV_Data[ocvindex])/(OCV_Data[ocvindex+1]-OCV_Data[ocvindex]);
+  
+  float soc = (SOC[ocvindex+1] - SOC[ocvindex])*m + SOC[ocvindex];
+
+  return soc;
+  
+
+}

Core/Src/stm32f3xx_it.c

@@ -74,6 +74,7 @@ void NMI_Handler(void)
   /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
   while (1)
   {
+    Error_Handler();
   }
   /* USER CODE END NonMaskableInt_IRQn 1 */
 }
@@ -89,6 +90,7 @@ void HardFault_Handler(void)
   while (1)
   {
     /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+    Error_Handler();
     /* USER CODE END W1_HardFault_IRQn 0 */
   }
 }
@@ -104,6 +106,7 @@ void MemManage_Handler(void)
   while (1)
   {
     /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
+    Error_Handler();
     /* USER CODE END W1_MemoryManagement_IRQn 0 */
   }
 }
@@ -119,6 +122,7 @@ void BusFault_Handler(void)
   while (1)
   {
     /* USER CODE BEGIN W1_BusFault_IRQn 0 */
+    Error_Handler();
     /* USER CODE END W1_BusFault_IRQn 0 */
   }
 }
@@ -134,6 +138,7 @@ void UsageFault_Handler(void)
   while (1)
   {
     /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
+    Error_Handler();
     /* USER CODE END W1_UsageFault_IRQn 0 */
   }
 }

Core/Src/ts_state_machine.c

@@ -10,6 +10,7 @@ TSStateHandle ts_state;
 
 static uint32_t precharge_95_reached_timestamp = 0;
 static uint32_t charging_check_timestamp = 0;
+static uint32_t discharge_begin_timestamp = 0;
 
 void ts_sm_init() {
   ts_state.current_state = TS_INACTIVE;
@@ -51,18 +52,27 @@ void ts_sm_update() {
 
 TSState ts_sm_update_inactive() {
   if (ts_state.target_state == TS_ACTIVE) {
-    precharge_95_reached_timestamp = 0;
-    return TS_PRECHARGE;
+    if (sdc_closed) {
+      precharge_95_reached_timestamp = 0;
+      return TS_PRECHARGE;
+    } else {
+      return TS_DISCHARGE;
+    }
   } else if (ts_state.target_state == TS_CHARGING) {
-    charging_check_timestamp = HAL_GetTick();
-    return TS_CHARGING_CHECK;
+    if (sdc_closed) {
+      charging_check_timestamp = HAL_GetTick();
+      return TS_CHARGING_CHECK;
+    } else {
+      return TS_DISCHARGE;
+    }
   }
 
   return TS_INACTIVE;
 }
 
 TSState ts_sm_update_active() {
-  if (ts_state.target_state == TS_INACTIVE) {
+  if (ts_state.target_state == TS_INACTIVE || !sdc_closed) {
+    discharge_begin_timestamp = HAL_GetTick();
     return TS_DISCHARGE;
   }
 
@@ -70,15 +80,17 @@ TSState ts_sm_update_active() {
 }
 
 TSState ts_sm_update_precharge() {
-  if (ts_state.target_state == TS_INACTIVE) {
+  if (ts_state.target_state == TS_INACTIVE || !sdc_closed) {
+    discharge_begin_timestamp = HAL_GetTick();
     return TS_DISCHARGE;
   }
-  if (shunt_data.voltage2 > MIN_VEHICLE_SIDE_VOLTAGE &&
-      shunt_data.voltage2 > 0.95 * shunt_data.voltage3) {
+  if (shunt_data.voltage_veh > MIN_VEHICLE_SIDE_VOLTAGE &&
+      shunt_data.voltage_veh > 0.95 * shunt_data.voltage_bat) {
     uint32_t now = HAL_GetTick();
     if (precharge_95_reached_timestamp == 0) {
       precharge_95_reached_timestamp = now;
     } else if (now - precharge_95_reached_timestamp >= PRECHARGE_95_DURATION) {
+      precharge_95_reached_timestamp = 0;
       return TS_ACTIVE;
     }
   }
@@ -87,8 +99,11 @@ TSState ts_sm_update_precharge() {
 }
 
 TSState ts_sm_update_discharge() {
-  // TODO: Actually wait for discharge
-  return TS_INACTIVE;
+  if (HAL_GetTick() - discharge_begin_timestamp >= DISCHARGE_DURATION) {
+    return TS_INACTIVE;
+  } else {
+    return TS_DISCHARGE;
+  }
 }
 
 TSState ts_sm_update_error() {
@@ -98,19 +113,23 @@ TSState ts_sm_update_error() {
     if (no_error_since == 0) {
       no_error_since = now;
     } else if (now - no_error_since > NO_ERROR_TIME) {
+      no_error_since = 0;
+      HAL_GPIO_WritePin(AMS_NERROR_GPIO_Port, AMS_NERROR_Pin, GPIO_PIN_SET);
       return TS_INACTIVE;
     }
   }
 
+  HAL_GPIO_WritePin(AMS_NERROR_GPIO_Port, AMS_NERROR_Pin, GPIO_PIN_RESET);
   return TS_ERROR;
 }
 
 TSState ts_sm_update_charging_check() {
-  if (ts_state.target_state == TS_INACTIVE) {
+  if (ts_state.target_state == TS_INACTIVE || !sdc_closed) {
+    discharge_begin_timestamp = HAL_GetTick();
     return TS_DISCHARGE;
   }
 
-  if (shunt_data.voltage2 > shunt_data.voltage3) {
+  if (shunt_data.voltage_veh > shunt_data.voltage_bat) {
     return TS_CHARGING;
   } else if (HAL_GetTick() - charging_check_timestamp >
              MAX_CHARGING_CHECK_DURATION) {
@@ -121,7 +140,8 @@ TSState ts_sm_update_charging_check() {
 }
 
 TSState ts_sm_update_charging() {
-  if (ts_state.target_state == TS_INACTIVE) {
+  if (ts_state.target_state == TS_INACTIVE || !sdc_closed) {
+    discharge_begin_timestamp = HAL_GetTick();
     return TS_DISCHARGE;
   }
   if (shunt_data.current < 0) {
@@ -134,6 +154,7 @@ TSState ts_sm_update_charging() {
 void ts_sm_set_relay_positions(TSState state) {
   switch (state) {
   case TS_INACTIVE:
+  case TS_DISCHARGE:
   case TS_ERROR:
     ts_sm_set_relay_position(RELAY_NEG, 0);
     ts_sm_set_relay_position(RELAY_POS, 0);
@@ -141,7 +162,6 @@ void ts_sm_set_relay_positions(TSState state) {
     break;
   case TS_ACTIVE:
   case TS_CHARGING:
-  case TS_DISCHARGE:
     ts_sm_set_relay_position(RELAY_NEG, 1);
     ts_sm_set_relay_position(RELAY_POS, 1);
     ts_sm_set_relay_position(RELAY_PRECHARGE, 1);
@@ -192,7 +212,7 @@ void ts_sm_check_close_wait(int *is_closed, int should_close) {
   }
 }
 
-void ts_sm_handle_ams_in(uint8_t *data) {
+void ts_sm_handle_ams_in(const uint8_t *data) {
   if (data[0] & 0x01) {
     ts_state.target_state = TS_ACTIVE;
   } else {

Core/Src/util.c

@@ -5,22 +5,3 @@
 void set_error_led() {
   HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_SET);
 }
-
-uint64_t ntohll(uint64_t netlonglong) {
-  uint8_t *p = (uint8_t *)&netlonglong;
-  return ((uint64_t)p[0] << 56) | ((uint64_t)p[1] << 48) |
-         ((uint64_t)p[2] << 40) | ((uint64_t)p[3] << 32) |
-         ((uint64_t)p[4] << 24) | ((uint64_t)p[5] << 16) |
-         ((uint64_t)p[6] << 8) | ((uint64_t)p[7] << 0);
-}
-
-uint32_t ntohl(uint32_t netlong) {
-  uint8_t *p = (uint8_t *)&netlong;
-  return ((uint32_t)p[3] << 24) | ((uint32_t)p[2] << 16) |
-         ((uint32_t)p[1] << 8) | ((uint32_t)p[0] << 0);
-}
-
-uint16_t ntohs(uint16_t netshort) {
-  uint8_t *p = (uint8_t *)&netshort;
-  return ((uint16_t)p[1] << 8) | ((uint16_t)p[0] << 0);
-}

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.19.2] date: [Sun Mar 12 19:36:18 CET 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [3.19.2] date: [Sun Apr 02 01:03:50 CEST 2023] 
 ##########################################################################################################################
 
 # ------------------------------------------------

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
@@ -20,11 +20,12 @@ floatAbi: -mfloat-abi=hard
 ldscript: STM32F302CBTx_FLASH.ld # linker script
 
 # Compiler definitions. The -D prefix for the compiler will be automatically added.
-cDefinitions: 
+cDefinitions:
   - USE_HAL_DRIVER
   - STM32F302xC
+  - STM32F3
 
-cxxDefinitions: 
+cxxDefinitions:
   - USE_HAL_DRIVER
   - STM32F302xC
 
@@ -42,12 +43,11 @@ asDefinitionsFile:
 cFlags: []
 cxxFlags: []
 assemblyFlags: []
-linkerFlags: 
+linkerFlags:
   - -specs=nano.specs
 
-
 # libraries to be included. The -l prefix to the library will be automatically added.
-libraries: 
+libraries:
   - c
   - m
   - nosys
@@ -59,17 +59,16 @@ libraryDirectories: []
 # Glob patterns (https://www.wikiwand.com/en/Glob_(programming)) can be used.
 # Do mind that double stars are reserved in yaml
 # these should be escaped with a: \ or the name should be in double quotes e.g. "**.test.**"
-excludes: 
+excludes:
   - "**/Examples/**"
   - "**/examples/**"
   - "**/Example/**"
   - "**/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: 
+includeDirectories:
   - Core/Inc
   - Drivers/STM32F3xx_HAL_Driver/Inc
   - Drivers/STM32F3xx_HAL_Driver/Inc/Legacy
@@ -82,13 +81,12 @@ 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.
 # Do mind that double stars are reserved in yaml
 # these should be escaped with a: \ or the name should be in double quotes e.g. "HARDWARE_DRIVER*.c"
-sourceFiles:  
+sourceFiles:
   - startup_stm32f302xc.s
   - Core/Src/main.c
   - Core/Src/stm32f3xx_it.c
@@ -118,7 +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
@@ -129,10 +126,9 @@ suppressMakefileWarning: false
 customMakefileRules:
 # - command: sayhello
 #   rule: echo "hello"
-#   dependsOn: $(BUILD_DIR)/$(TARGET).elf # can be left out    
+#   dependsOn: $(BUILD_DIR)/$(TARGET).elf # can be left out
 
 # Additional flags which will be used when invoking the make command
 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
 
 
 #######################################
@@ -36,6 +36,7 @@ BUILD_DIR = build
 ######################################
 # C sources
 C_SOURCES =  \
+Core/Lib/can-halal/can-halal.c \
 Core/Src/can.c \
 Core/Src/main.c \
 Core/Src/shunt_monitoring.c \
@@ -84,7 +85,7 @@ PREFIX = arm-none-eabi-
 POSTFIX = "
 # The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
 # either it can be added to the PATH environment variable.
-GCC_PATH="/home/jasper/.config/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/11.3.1-1.1.2/.content/bin
+GCC_PATH="c:/Users/max/AppData/Roaming/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/11.2.1-1.2.2/.content/bin
 ifdef GCC_PATH
 CXX = $(GCC_PATH)/$(PREFIX)g++$(POSTFIX)
 CC = $(GCC_PATH)/$(PREFIX)gcc$(POSTFIX)
@@ -122,6 +123,7 @@ AS_DEFS =
 
 # C defines
 C_DEFS =  \
+-DSTM32F3 \
 -DSTM32F302xC \
 -DUSE_HAL_DRIVER
 
@@ -138,6 +140,7 @@ AS_INCLUDES = \
 # C includes
 C_INCLUDES =  \
 -ICore/Inc \
+-ICore/Lib/can-halal \
 -IDrivers/CMSIS/Device/ST/STM32F3xx/Include \
 -IDrivers/CMSIS/Include \
 -IDrivers/STM32F3xx_HAL_Driver/Inc \
@@ -196,8 +199,14 @@ vpath %.cpp $(sort $(dir $(CPP_SOURCES)))
 # list of C objects
 OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
 vpath %.c $(sort $(dir $(C_SOURCES)))
+
 # list of ASM program objects
-OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
+# list of ASM program objects
+UPPER_CASE_ASM_SOURCES = $(filter %.S,$(ASM_SOURCES))
+LOWER_CASE_ASM_SOURCES = $(filter %.s,$(ASM_SOURCES))
+
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(UPPER_CASE_ASM_SOURCES:.S=.o)))
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(LOWER_CASE_ASM_SOURCES:.s=.o)))
 vpath %.s $(sort $(dir $(ASM_SOURCES)))
 
 $(BUILD_DIR)/%.o: %.cpp STM32Make.make | $(BUILD_DIR) 
@@ -212,6 +221,9 @@ $(BUILD_DIR)/%.o: %.c STM32Make.make | $(BUILD_DIR)
 $(BUILD_DIR)/%.o: %.s STM32Make.make | $(BUILD_DIR)
 	$(AS) -c $(CFLAGS) $< -o $@
 
+$(BUILD_DIR)/%.o: %.S STM32Make.make | $(BUILD_DIR)
+	$(AS) -c $(CFLAGS) $< -o $@
+
 $(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) STM32Make.make
 	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
 	$(SZ) $@
@@ -229,19 +241,19 @@ $(BUILD_DIR):
 # flash
 #######################################
 flash: $(BUILD_DIR)/$(TARGET).elf
-	"/home/jasper/.config/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/openocd/0.11.0-5.1/.content/bin/openocd" -f ./openocd.cfg -c "program $(BUILD_DIR)/$(TARGET).elf verify reset exit"
+	"C:/USERS/MAX/APPDATA/ROAMING/CODE/USER/GLOBALSTORAGE/BMD.STM32-FOR-VSCODE/@XPACK-DEV-TOOLS/OPENOCD/0.11.0-4.1/.CONTENT/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "program $(BUILD_DIR)/$(TARGET).elf verify reset exit"
 
 #######################################
 # erase
 #######################################
 erase: $(BUILD_DIR)/$(TARGET).elf
-	"/home/jasper/.config/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/openocd/0.11.0-5.1/.content/bin/openocd" -f ./openocd.cfg -c "init; reset halt; stm32f3x mass_erase 0; exit"
+	"C:/USERS/MAX/APPDATA/ROAMING/CODE/USER/GLOBALSTORAGE/BMD.STM32-FOR-VSCODE/@XPACK-DEV-TOOLS/OPENOCD/0.11.0-4.1/.CONTENT/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "init; reset halt; stm32f3x mass_erase 0; exit"
 
 #######################################
 # clean up
 #######################################
 clean:
-	-rm -fR $(BUILD_DIR)
+	cmd /c rd /s /q $(BUILD_DIR)
 
 #######################################
 # custom makefile rules

ams-master-23.ioc

@@ -185,7 +185,7 @@ PB7.GPIO_Label=STATUS4
 PB7.Locked=true
 PB7.Signal=GPIO_Output
 PB8.GPIOParameters=GPIO_Label
-PB8.GPIO_Label=AMS_ERROR
+PB8.GPIO_Label=AMS_NERROR
 PB8.Locked=true
 PB8.Signal=GPIO_Output
 PF0-OSC_IN.Mode=HSE-External-Oscillator