Set AMS Error pin

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 ------------------------------------------------------------*/

Core/Inc/shunt_monitoring.h

@@ -9,8 +9,8 @@
 
 typedef struct {
   int32_t current;
-  int32_t voltage1;
+  int32_t voltage_bat;
-  int32_t voltage2;
+  int32_t voltage_veh;
   int32_t voltage3;
   int32_t busbartemp;
   int32_t power;

Core/Inc/slave_monitoring.h

@@ -3,7 +3,7 @@
 
 #include <stdint.h>
 
-#define N_SLAVES 6
+#define N_SLAVES 5
 #define N_CELLS_SERIES 17
 #define N_CELLS_PARALLEL 5
 #define N_TEMP_SENSORS 32

Core/Inc/ts_state_machine.h

@@ -8,7 +8,8 @@
 // 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

Core/Src/can.c

@@ -21,7 +21,7 @@ void can_init(CAN_HandleTypeDef *handle) {
 
 HAL_StatusTypeDef can_send_status() {
   uint8_t data[6];
-  data[0] = ts_state.current_state;
+  data[0] = ts_state.current_state | (sdc_closed << 7);
   data[1] = current_soc;
   ftcan_marshal_unsigned(&data[2], min_voltage, 2);
   ftcan_marshal_signed(&data[4], max_temp, 2);

Core/Src/main.c

@@ -55,7 +55,7 @@ CAN_HandleTypeDef hcan;
 UART_HandleTypeDef huart1;
 
 /* USER CODE BEGIN PV */
-
+int sdc_closed = 0;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -132,6 +132,8 @@ 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();

Core/Src/shunt_monitoring.c

@@ -12,8 +12,8 @@ ShuntData shunt_data;
 
 void shunt_init() {
   shunt_data.current = 0;
-  shunt_data.voltage1 = 0;
+  shunt_data.voltage_veh = 0;
-  shunt_data.voltage2 = 0;
+  shunt_data.voltage_bat = 0;
   shunt_data.voltage3 = 0;
   shunt_data.busbartemp = 0;
   shunt_data.power = 0;
@@ -36,10 +36,10 @@ void shunt_handle_can_msg(uint16_t id, const uint8_t *data) {
     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;

Core/Src/ts_state_machine.c

@@ -63,7 +63,7 @@ TSState ts_sm_update_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;
   }
@@ -72,12 +72,12 @@ 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 &&
+  if (shunt_data.voltage_veh > MIN_VEHICLE_SIDE_VOLTAGE &&
-      shunt_data.voltage2 > 0.95 * shunt_data.voltage3) {
+      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;
@@ -106,20 +106,22 @@ TSState ts_sm_update_error() {
       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) {
@@ -130,7 +132,7 @@ 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;
   }