Set precharge control to open if the AUX is open

Core/Inc/can.h

@@ -10,6 +10,7 @@
 #define CAN_ID_AMS_IN 0x00B
 #define CAN_ID_AMS_ERROR 0x00C
 #define CAN_ID_SLAVE_STATUS_BASE 0x080
+#define CAN_ID_AMS_SIGNALS 0x090
 #define CAN_ID_SLAVE_LOG 0x4F4
 #define CAN_ID_SHUNT_BASE 0x520
 #define CAN_ID_SHUNT_CURRENT 0x521

Core/Inc/main.h

@@ -43,6 +43,12 @@ extern "C" {
 /* USER CODE BEGIN EC */
 extern int sdc_closed;
 extern int sdc_closed_nodelay;
+extern int ts_error;
+extern int hv_active;
+extern int neg_air_closed;
+extern int pos_air_closed;
+extern int precharge_closed;
+extern int precharge_opened;
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/

Core/Src/can.c

@@ -23,8 +23,7 @@ void can_init(FDCAN_HandleTypeDef *handle) {
 
 HAL_StatusTypeDef can_send_status() {
   uint8_t data[8];
-  data[0] =
-      ts_state.current_state | (sdc_closed << 7); // | (sdc_closed_nodelay << 6);
+  data[0] = ts_state.current_state | (sdc_closed << 7);
   data[1] = roundf(current_soc);
   ftcan_marshal_unsigned(&data[2], min_voltage, 2);
   ftcan_marshal_signed(&data[4], max_temp, 2);
@@ -34,7 +33,14 @@ HAL_StatusTypeDef can_send_status() {
   } else {
     data[7] = 0xFF;
   }
-  return ftcan_transmit(CAN_ID_AMS_STATUS, data, sizeof(data));
+  HAL_StatusTypeDef ret = ftcan_transmit(CAN_ID_AMS_STATUS, data, sizeof(data));
+  if (ret != HAL_OK) {
+    return ret;
+  }
+  data[0] = (sdc_closed_nodelay << 0) | (ts_error << 1) | (hv_active << 2) |
+            (neg_air_closed << 3) | (pos_air_closed << 4) |
+            (precharge_closed << 5) | (precharge_opened << 6);
+  return ftcan_transmit(CAN_ID_AMS_SIGNALS, data, 1);
 }
 
 HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg) {

Core/Src/main.c

@@ -61,6 +61,12 @@ UART_HandleTypeDef huart1;
 /* USER CODE BEGIN PV */
 int sdc_closed = 0;
 int sdc_closed_nodelay = 0;
+int ts_error;
+int hv_active;
+int neg_air_closed;
+int pos_air_closed;
+int precharge_closed;
+int precharge_opened = 0;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -99,6 +105,18 @@ static void update_sdc() {
   last[0] = last[1];
   last[1] = sdc_closed_nodelay;
 }
+
+static void update_tsal_signals() {
+  ts_error = HAL_GPIO_ReadPin(TS_ERROR_GPIO_Port, TS_ERROR_Pin) == GPIO_PIN_SET;
+  hv_active =
+      HAL_GPIO_ReadPin(HV_ACTIVE_GPIO_Port, HV_ACTIVE_Pin) == GPIO_PIN_SET;
+  neg_air_closed = HAL_GPIO_ReadPin(NEG_AIR_CLOSED_GPIO_Port,
+                                    NEG_AIR_CLOSED_Pin) == GPIO_PIN_SET;
+  pos_air_closed = HAL_GPIO_ReadPin(POS_AIR_CLOSED_GPIO_Port,
+                                    POS_AIR_CLOSED_Pin) == GPIO_PIN_SET;
+  precharge_closed = HAL_GPIO_ReadPin(PRECHARGE_CLOSED_GPIO_Port,
+                                      PRECHARGE_CLOSED_Pin) == GPIO_PIN_SET;
+}
 /* USER CODE END 0 */
 
 /**
@@ -150,6 +168,7 @@ int main(void)
 
     /* USER CODE BEGIN 3 */
     update_sdc();
+    update_tsal_signals();
 
     slaves_check();
     shunt_check();
@@ -266,7 +285,7 @@ static void MX_FDCAN1_Init(void)
   hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
   hfdcan1.Init.TxEventsNbr = 0;
   hfdcan1.Init.TxBuffersNbr = 0;
-  hfdcan1.Init.TxFifoQueueElmtsNbr = 1;
+  hfdcan1.Init.TxFifoQueueElmtsNbr = 32;
   hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
   if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)

Core/Src/soc_estimation.c

@@ -11,7 +11,7 @@
 
 #define SOC_ESTIMATION_NO_CURRENT_THRESH 200     // mA
 #define SOC_ESTIMATION_NO_CURRENT_TIME 100000    // ms
-#define SOC_ESTIMATION_BATTERY_CAPACITY 70300800 // mAs
+#define SOC_ESTIMATION_BATTERY_CAPACITY 64800000 // mAs
 ocv_soc_pair_t OCV_SOC_PAIRS[] = {
     {2500, 0.00f},  {2990, 3.97f},  {3230, 9.36f},  {3320, 12.60f},
     {3350, 13.68f}, {3410, 20.15f}, {3530, 32.01f}, {3840, 66.53f},

Core/Src/ts_state_machine.c

@@ -2,8 +2,8 @@
 
 #include "main.h"
 #include "shunt_monitoring.h"
-#include "stm32h7xx_hal.h"
 #include "status_led.h"
+#include "stm32h7xx_hal.h"
 #include <stdint.h>
 
 TSStateHandle ts_state;
@@ -11,6 +11,7 @@ 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;
+static uint32_t precharge_opened_timestamp = 0;
 
 void ts_sm_init() {
   ts_state.current_state = TS_INACTIVE;
@@ -77,6 +78,13 @@ TSState ts_sm_update_active() {
     return TS_DISCHARGE;
   }
 
+  if (!precharge_closed && precharge_opened_timestamp == 0) {
+    precharge_opened_timestamp = HAL_GetTick();
+  } else if (precharge_opened_timestamp != 0 &&
+             HAL_GetTick() - precharge_opened_timestamp > 100) {
+    precharge_opened = 1;
+  }
+
   return TS_ACTIVE;
 }
 
@@ -90,8 +98,11 @@ TSState ts_sm_update_precharge() {
     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) {
+    } else if ((now - precharge_95_reached_timestamp) >=
+               PRECHARGE_95_DURATION) {
       precharge_95_reached_timestamp = 0;
+      precharge_opened_timestamp = 0;
+      precharge_opened = 0;
       return TS_ACTIVE;
     }
   }
@@ -166,7 +177,7 @@ void ts_sm_set_relay_positions(TSState state) {
   case TS_CHARGING:
     ts_sm_set_relay_position(RELAY_NEG, 1);
     ts_sm_set_relay_position(RELAY_POS, 1);
-    ts_sm_set_relay_position(RELAY_PRECHARGE, 1);
+    ts_sm_set_relay_position(RELAY_PRECHARGE, !precharge_opened);
     // TODO: Open precharge relay after a while
     break;
   case TS_PRECHARGE:
@@ -222,7 +233,8 @@ void ts_sm_handle_ams_in(const uint8_t *data) {
   }
 }
 
-void ts_sm_set_error_source(TSErrorSource source, TSErrorKind error_type, bool is_errored) {
+void ts_sm_set_error_source(TSErrorSource source, TSErrorKind error_type,
+                            bool is_errored) {
   if (is_errored) {
     ts_state.error_source |= source;
     ts_state.error_type = error_type;

Master_FT24-V1.0.ioc

@@ -11,7 +11,7 @@ FDCAN1.NominalTimeSeg1=31
 FDCAN1.NominalTimeSeg2=8
 FDCAN1.RxFifo0ElmtsNbr=16
 FDCAN1.StdFiltersNbr=32
-FDCAN1.TxFifoQueueElmtsNbr=1
+FDCAN1.TxFifoQueueElmtsNbr=32
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 I2C1.IPParameters=Timing
@@ -288,7 +288,7 @@ RCC.Tim2OutputFreq_Value=64000000
 RCC.TraceFreq_Value=64000000
 RCC.USART16Freq_Value=64000000
 RCC.USART234578Freq_Value=64000000
-RCC.USBFreq_Value=21333333.333333332
+RCC.USBFreq_Value=42666666.666666664
 RCC.VCO1OutputFreq_Value=128000000
 RCC.VCO2OutputFreq_Value=160000000
 RCC.VCO3OutputFreq_Value=64500000