Add regen overcurrent limit

Core/Inc/can.h

@@ -12,6 +12,7 @@
 #define CAN_ID_AMS_IN 0x00B
 #define CAN_ID_AMS_ERROR 0x00C
 #define CAN_ID_SLAVE_STATUS_BASE 0x080
+#define CAN_ID_SLAVE_STATUS_FUCKED 0x0A0
 #define CAN_ID_SLAVE_LOG 0x4F4
 #define CAN_ID_SHUNT_BASE 0x520
 #define CAN_ID_SHUNT_CURRENT 0x521

Core/Inc/shunt_monitoring.h

@@ -5,9 +5,10 @@
 
 #include "stm32f3xx_hal.h"
 
-#define SHUNT_TIMEOUT 300               // ms
-#define SHUNT_THRESH_OVERCURRENT 300000 // mA
-#define SHUNT_THRESH_OVERTEMP 1000      // 1/10 °C
+#define SHUNT_TIMEOUT 300                    // ms
+#define SHUNT_THRESH_OVERCURRENT 300000      // mA
+#define SHUNT_THRESH_OVERCURRENT_REGEN 50000 // mA
+#define SHUNT_THRESH_OVERTEMP 1000           // 1/10 °C
 
 typedef struct {
   int32_t current;     // mA

Core/Src/can.c

@@ -18,6 +18,7 @@ void can_init(CAN_HandleTypeDef *handle) {
   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_STATUS_FUCKED, 0xFFF);
   ftcan_add_filter(CAN_ID_SLAVE_LOG, 0xFFF);
 }
 
@@ -50,6 +51,8 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
   } else if ((id & 0xFF0) == CAN_ID_SLAVE_STATUS_BASE) {
     slaves_handle_status(data);
     return;
+  } else if (id == CAN_ID_SLAVE_STATUS_FUCKED) {
+    slaves_handle_status(data);
   }
   switch (id) {
   case CAN_ID_SLAVE_PANIC:

Core/Src/shunt_monitoring.c

@@ -28,9 +28,10 @@ void shunt_check() {
   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) {
+  } else if (shunt_data.current >= SHUNT_THRESH_OVERCURRENT ||
+             shunt_data.current <= -SHUNT_THRESH_OVERCURRENT_REGEN) {
     is_error = 1;
-    can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);
+    can_send_error(TS_ERRORKIND_SHUNT_OVERCURRENT, 0);
   } else if (shunt_data.busbartemp >= SHUNT_THRESH_OVERTEMP) {
     is_error = 1;
     can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);

Core/Src/soc_estimation.c

@@ -32,7 +32,7 @@ void soc_init() {
 
 void soc_update() {
   uint32_t now = HAL_GetTick();
-  if (shunt_data.current >= SOC_ESTIMATION_NO_CURRENT_THRESH) {
+  if (abs(shunt_data.current) >= SOC_ESTIMATION_NO_CURRENT_THRESH) {
     last_current_time = now;
     if (!current_was_flowing) {
       soc_before_current = current_soc;
@@ -52,7 +52,7 @@ void soc_update() {
     // Otherwise, use the current counter to update SoC
     float as_delta = shunt_data.current_counter - mAs_before_current;
     float soc_delta = as_delta / SOC_ESTIMATION_BATTERY_CAPACITY * 100;
-    current_soc = soc_before_current + soc_delta;
+    current_soc = soc_before_current - soc_delta;
   }
 }