formatted

(but turn off warnings for unused parameters)

Core/Inc/can.h

@@ -12,7 +12,6 @@
 #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

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

Core/Inc/status_led.h

@@ -0,0 +1,10 @@
+#ifndef INC_STATUS_LED_H
+#define INC_STATUS_LED_H
+
+#include "ts_state_machine.h"
+
+void status_led_init();
+
+void status_led_state(TSState state, TSErrorKind error);
+
+#endif // INC_STATUS_LED_H

Core/Inc/ts_state_machine.h

@@ -4,6 +4,7 @@
 #include "stm32f3xx_hal.h"
 
 #include <stdint.h>
+#include <stdbool.h>
 
 // Minimum vehicle side voltage to exit precharge
 #define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV
@@ -37,13 +38,17 @@ typedef enum {
   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)
+
+typedef enum {
+  TS_ERROR_SOURCE_SHUNT = (1 << 0),
+  TS_ERROR_SOURCE_SLAVES = (1 << 1)
+} TSErrorSource;
 
 typedef struct {
   TSState current_state;
   TSState target_state;
-  uint32_t error;
+  uint16_t error_source; // TSErrorSource (bitmask)
+  uint16_t error_type; // TSErrorKind
 } TSStateHandle;
 
 extern TSStateHandle ts_state;
@@ -66,6 +71,6 @@ void ts_sm_check_close_wait(int *is_closed, int should_close);
 
 void ts_sm_handle_ams_in(const uint8_t *data);
 
-void ts_sm_set_error_source(uint32_t flag, int state);
+void ts_sm_set_error_source(TSErrorSource source, TSErrorKind error_type, bool is_errored);
 
 #endif // INC_TS_STATE_MACHINE_H

Core/Src/can.c

@@ -18,7 +18,6 @@ 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);
 }
 
@@ -51,8 +50,6 @@ 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/main.c

@@ -27,6 +27,7 @@
 #include "slave_monitoring.h"
 #include "soc_estimation.h"
 #include "ts_state_machine.h"
+#include "status_led.h"
 
 #include "stm32f3xx_hal.h"
 #include "stm32f3xx_hal_gpio.h"
@@ -487,6 +488,9 @@ static void MX_GPIO_Init(void) {
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(PRECHARGE_CTRL_GPIO_Port, &GPIO_InitStruct);
 
+  /*Configure GPIO pins for Status LEDs */
+  status_led_init();
+
   /* USER CODE BEGIN MX_GPIO_Init_2 */
   /* USER CODE END MX_GPIO_Init_2 */
 }

Core/Src/shunt_monitoring.c

@@ -25,18 +25,21 @@ void shunt_init() {
 
 void shunt_check() {
   int is_error = 0;
+  TSErrorKind error_type = TS_ERRORKIND_NONE;
   if (HAL_GetTick() - shunt_data.last_message > SHUNT_TIMEOUT) {
     is_error = 1;
+    error_type = TS_ERRORKIND_SHUNT_TIMEOUT;
     can_send_error(TS_ERRORKIND_SHUNT_TIMEOUT, 0);
-  } else if (shunt_data.current >= SHUNT_THRESH_OVERCURRENT ||
-             shunt_data.current <= -SHUNT_THRESH_OVERCURRENT_REGEN) {
+  } else if (shunt_data.current >= SHUNT_THRESH_OVERCURRENT) {
     is_error = 1;
+    error_type = TS_ERRORKIND_SHUNT_OVERCURRENT;
     can_send_error(TS_ERRORKIND_SHUNT_OVERCURRENT, 0);
   } else if (shunt_data.busbartemp >= SHUNT_THRESH_OVERTEMP) {
     is_error = 1;
+    error_type = TS_ERRORKIND_SHUNT_OVERTEMP;
     can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);
   }
-  ts_sm_set_error_source(TS_ERROR_SOURCE_SHUNT, is_error);
+  ts_sm_set_error_source(TS_ERROR_SOURCE_SHUNT, error_type, is_error);
 }
 
 void shunt_handle_can_msg(uint16_t id, const uint8_t *data) {

Core/Src/slave_monitoring.c

@@ -57,9 +57,12 @@ void slaves_init() {
 
 void slaves_check() {
   int any_slave_error = 0;
+  TSErrorKind slave_error = TS_ERRORKIND_NONE;
+
   uint32_t now = HAL_GetTick();
   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) {
@@ -82,12 +85,13 @@ void slaves_check() {
 
     if (slaves[i].error.kind != SLAVE_ERR_NONE) {
       any_slave_error = 1;
+      slave_error = (slaves[i].error.kind == SLAVE_ERR_TIMEOUT) ? TS_ERRORKIND_SLAVE_TIMEOUT : TS_ERRORKIND_SLAVE_PANIC;
     }
   }
   min_voltage = min_voltage_new;
   max_temp = max_temp_new;
 
-  ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, any_slave_error);
+  ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, slave_error, any_slave_error);
 }
 
 void slaves_handle_panic(const uint8_t *data) {
@@ -111,7 +115,7 @@ void slaves_handle_panic(const uint8_t *data) {
   }
   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);
+  ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, TS_ERRORKIND_SLAVE_PANIC, 1);
   can_send_error(TS_ERRORKIND_SLAVE_PANIC, slave_id);
 }
 

Core/Src/soc_estimation.c

@@ -32,7 +32,7 @@ void soc_init() {
 
 void soc_update() {
   uint32_t now = HAL_GetTick();
-  if (abs(shunt_data.current) >= SOC_ESTIMATION_NO_CURRENT_THRESH) {
+  if (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;
   }
 }
 

Core/Src/status_led.c

@@ -0,0 +1,133 @@
+#include "status_led.h"
+#include "stm32f3xx_hal_gpio.h"
+#include "ts_state_machine.h"
+#include <stdint.h>
+
+#define STATUS_LED_GPIO_PORT GPIOA //TODO: change to correct values for the board
+
+#define STATUS_LED_1_RED_PIN GPIO_PIN_10 //TODO: change to correct values for the board
+#define STATUS_LED_1_GREEN_PIN GPIO_PIN_11
+#define STATUS_LED_1_BLUE_PIN GPIO_PIN_12
+
+#define STATUS_LED_2_RED_PIN GPIO_PIN_13 //TODO: change to correct values for the board
+#define STATUS_LED_2_GREEN_PIN GPIO_PIN_14
+#define STATUS_LED_2_BLUE_PIN GPIO_PIN_15
+
+//TODO: change to correct values for the board
+#error "GPIO pins for status LEDs are not set correctly"
+
+typedef struct {
+    uint8_t red : 1;
+    uint8_t green : 1;
+    uint8_t blue : 1;
+} LedColor;
+
+typedef enum {
+    LED_1,
+    LED_2
+} LedId;
+
+void status_led_init() {
+    GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+    GPIO_InitStruct.Pin = STATUS_LED_1_RED_PIN | STATUS_LED_1_GREEN_PIN | STATUS_LED_1_BLUE_PIN | STATUS_LED_2_RED_PIN | STATUS_LED_2_GREEN_PIN | STATUS_LED_2_BLUE_PIN;
+    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+
+    HAL_GPIO_Init(STATUS_LED_GPIO_PORT, &GPIO_InitStruct);
+}
+
+static void set_led_color(LedId id, LedColor color) {
+    GPIO_PinState red = color.red ? GPIO_PIN_SET : GPIO_PIN_RESET;
+    GPIO_PinState green = color.green ? GPIO_PIN_SET : GPIO_PIN_RESET;
+    GPIO_PinState blue = color.blue ? GPIO_PIN_SET : GPIO_PIN_RESET;
+
+    switch (id) {
+        case LED_1:
+            HAL_GPIO_WritePin(STATUS_LED_GPIO_PORT, STATUS_LED_1_RED_PIN, red);
+            HAL_GPIO_WritePin(STATUS_LED_GPIO_PORT, STATUS_LED_1_GREEN_PIN, green);
+            HAL_GPIO_WritePin(STATUS_LED_GPIO_PORT, STATUS_LED_1_BLUE_PIN, blue);
+            break;
+        case LED_2:
+            HAL_GPIO_WritePin(STATUS_LED_GPIO_PORT, STATUS_LED_2_RED_PIN, red);
+            HAL_GPIO_WritePin(STATUS_LED_GPIO_PORT, STATUS_LED_2_GREEN_PIN, green);
+            HAL_GPIO_WritePin(STATUS_LED_GPIO_PORT, STATUS_LED_2_BLUE_PIN, blue);
+            break;
+    }
+}
+
+/**
+  * @brief Sets the status LEDs to the given state
+  * 
+  * @param state The state to set the LEDs to
+  *
+  * State -> Color mapping:
+  * TS_INACTIVE       -> LED_1:   off, LED_2: off
+  * TS_ACTIVE         -> LED_1:  blue, LED_2: off
+  * TS_PRECHARGE      -> LED_1:  blue, LED_2: cyan
+  * TS_DISCHARGE      -> LED_1:  blue, LED_2: magenta
+  * TS_ERROR          -> LED_1:   red, LED_2: <see below>
+  * TS_CHARGING_CHECK -> LED_1: green, LED_2: cyan
+  * TS_CHARGING       -> LED_1: green, LED_2: off
+  *
+  * Error -> LED_2 mapping:
+  * TS_ERRORKIND_NONE              -> off
+  * TS_ERRORKIND_SLAVE_TIMEOUT     -> blue
+  * TS_ERRORKIND_SLAVE_PANIC       -> magenta
+  * TS_ERRORKIND_SHUNT_TIMEOUT     -> green
+  * TS_ERRORKIND_SHUNT_OVERCURRENT -> yellow
+  * TS_ERRORKIND_SHUNT_OVERTEMP    -> red
+  */
+
+void status_led_state(TSState state, TSErrorKind error) {
+    switch (state) {
+        case TS_INACTIVE:
+            set_led_color(LED_1, (LedColor) {.red = 0, .green = 0, .blue = 0});
+            set_led_color(LED_2, (LedColor) {.red = 0, .green = 0, .blue = 0});
+            break;
+        case TS_ACTIVE:
+            set_led_color(LED_1, (LedColor) {.red = 0, .green = 0, .blue = 1});
+            set_led_color(LED_2, (LedColor) {.red = 0, .green = 0, .blue = 0});
+            break;
+        case TS_PRECHARGE:
+            set_led_color(LED_1, (LedColor) {.red = 0, .green = 0, .blue = 1});
+            set_led_color(LED_2, (LedColor) {.red = 0, .green = 1, .blue = 1});
+            break;
+        case TS_DISCHARGE:
+            set_led_color(LED_1, (LedColor) {.red = 0, .green = 0, .blue = 1});
+            set_led_color(LED_2, (LedColor) {.red = 1, .green = 0, .blue = 1});
+            break;
+        case TS_ERROR:
+            set_led_color(LED_1, (LedColor) {.red = 1, .green = 0, .blue = 0});
+            switch (error) {
+                case TS_ERRORKIND_NONE:
+                    set_led_color(LED_2, (LedColor) {.red = 0, .green = 0, .blue = 0});
+                    break;
+                case TS_ERRORKIND_SLAVE_TIMEOUT:
+                    set_led_color(LED_2, (LedColor) {.red = 0, .green = 0, .blue = 1});
+                    break;
+                case TS_ERRORKIND_SLAVE_PANIC:
+                    set_led_color(LED_2, (LedColor) {.red = 1, .green = 0, .blue = 1});
+                    break;
+                case TS_ERRORKIND_SHUNT_TIMEOUT:
+                    set_led_color(LED_2, (LedColor) {.red = 0, .green = 1, .blue = 0});
+                    break;
+                case TS_ERRORKIND_SHUNT_OVERCURRENT:
+                    set_led_color(LED_2, (LedColor) {.red = 1, .green = 1, .blue = 0});
+                    break;
+                case TS_ERRORKIND_SHUNT_OVERTEMP:
+                    set_led_color(LED_2, (LedColor) {.red = 1, .green = 0, .blue = 0});
+                    break;
+            }
+            break;
+        case TS_CHARGING_CHECK:
+            set_led_color(LED_1, (LedColor) {.red = 0, .green = 1, .blue = 0});
+            set_led_color(LED_2, (LedColor) {.red = 0, .green = 1, .blue = 1});
+            break;
+        case TS_CHARGING:
+            set_led_color(LED_1, (LedColor) {.red = 0, .green = 1, .blue = 0});
+            set_led_color(LED_2, (LedColor) {.red = 0, .green = 0, .blue = 0});
+            break;
+    }
+}

Core/Src/ts_state_machine.c

@@ -4,6 +4,7 @@
 #include "shunt_monitoring.h"
 #include "stm32f3xx_hal.h"
 #include "stm32f3xx_hal_gpio.h"
+#include "status_led.h"
 #include <stdint.h>
 
 TSStateHandle ts_state;
@@ -15,11 +16,11 @@ static uint32_t discharge_begin_timestamp = 0;
 void ts_sm_init() {
   ts_state.current_state = TS_INACTIVE;
   ts_state.target_state = TS_INACTIVE;
-  ts_state.error = 0;
+  ts_state.error_source = 0;
 }
 
 void ts_sm_update() {
-  if (ts_state.error) {
+  if (ts_state.error_source) {
     ts_state.current_state = TS_ERROR;
   }
 
@@ -48,6 +49,7 @@ void ts_sm_update() {
   }
 
   ts_sm_set_relay_positions(ts_state.current_state);
+  status_led_state(ts_state.current_state, (TSErrorKind) ts_state.error_type);
 }
 
 TSState ts_sm_update_inactive() {
@@ -89,7 +91,7 @@ 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;
       return TS_ACTIVE;
     }
@@ -108,7 +110,7 @@ TSState ts_sm_update_discharge() {
 
 TSState ts_sm_update_error() {
   static uint32_t no_error_since = 0;
-  if (ts_state.error == 0) {
+  if (ts_state.error_source == 0) {
     uint32_t now = HAL_GetTick();
     if (no_error_since == 0) {
       no_error_since = now;
@@ -220,10 +222,12 @@ void ts_sm_handle_ams_in(const uint8_t *data) {
   }
 }
 
-void ts_sm_set_error_source(uint32_t flag, int state) {
-  if (state) {
-    ts_state.error |= flag;
+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;
   } else {
-    ts_state.error &= ~flag;
+    ts_state.error_source &= ~source;
+    ts_state.error_type = ~error_type;
   }
 }

STM32-for-VSCode.config.yaml

@@ -40,7 +40,7 @@ cxxDefinitionsFile:
 asDefinitionsFile:
 
 # Compiler flags
-cFlags: []
+cFlags: [-Wall, -Wextra, -Wno-unused-parameter]
 cxxFlags: []
 assemblyFlags: []
 linkerFlags:

STM32Make.make

@@ -43,6 +43,7 @@ Core/Src/main.c \
 Core/Src/shunt_monitoring.c \
 Core/Src/slave_monitoring.c \
 Core/Src/soc_estimation.c \
+Core/Src/status_led.c \
 Core/Src/stm32f3xx_hal_msp.c \
 Core/Src/stm32f3xx_it.c \
 Core/Src/system_stm32f3xx.c \
@@ -86,7 +87,7 @@ 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="/home/kbracher/.vscode-server/data/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/12.3.1-1.2.1/.content/bin
 ifdef GCC_PATH
 CXX = $(GCC_PATH)/$(PREFIX)g++$(POSTFIX)
 CC = $(GCC_PATH)/$(PREFIX)gcc$(POSTFIX)
@@ -162,7 +163,7 @@ CXXFLAGS += -g -gdwarf -ggdb
 endif
 
 # Add additional flags
-CFLAGS += 
+CFLAGS += -Wall -Wextra -Wno-unused-parameter 
 ASFLAGS += 
 CXXFLAGS += 
 
@@ -242,13 +243,13 @@ $(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"
+	"/home/kbracher/.vscode-server/data/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/openocd/0.12.0-2.1/.content/bin/openocd" -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"
+	"/home/kbracher/.vscode-server/data/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/openocd/0.12.0-2.1/.content/bin/openocd" -f ./openocd.cfg -c "init; reset halt; stm32f3x mass_erase 0; exit"
 
 #######################################
 # clean up