133 lines
4.2 KiB
C
133 lines
4.2 KiB
C
#include "slave_monitoring.h"
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#include "can.h"
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#include "main.h"
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#include "ts_state_machine.h"
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#include "can-halal.h"
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#include "stm32h7xx_hal.h"
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#include <stdint.h>
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#include <string.h>
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SlaveHandle slaves[N_SLAVES];
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uint16_t min_voltage;
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int16_t max_temp;
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static uint8_t slave_id_to_index[128] = {0xFF};
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static size_t get_slave_index(uint8_t slave_id) {
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// Slave IDs are 7-bit, so we can use a 128-element array to map them to
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// indices. 0xFF is used to mark unseen slave IDs, since the highest index we
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// could need is N_SLAVES - 1 (i.e. 5).
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static size_t next_slave_index = 0;
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if (slave_id_to_index[slave_id] == 0xFF) {
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if (next_slave_index >= N_SLAVES) {
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// We've seen more than N_SLAVES slave IDs, this shouldn't happen.
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Error_Handler();
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}
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slave_id_to_index[slave_id] = next_slave_index;
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slaves[next_slave_index].id = slave_id;
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next_slave_index++;
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}
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return slave_id_to_index[slave_id];
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}
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void slaves_init() {
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memset(slave_id_to_index, 0xFF, sizeof(slave_id_to_index));
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for (int i = 0; i < N_SLAVES; i++) {
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slaves[i].id = 0xFF;
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slaves[i].error.kind = SLAVE_ERR_NONE;
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slaves[i].last_message = 0;
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slaves[i].min_voltage = 0;
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slaves[i].max_voltage = 0;
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slaves[i].max_temp = 0;
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}
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HAL_GPIO_WritePin(SLAVE_POWER_0_GPIO_Port, SLAVE_POWER_0_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(SLAVE_POWER_1_GPIO_Port, SLAVE_POWER_1_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(SLAVE_POWER_DSEL_GPIO_Port, SLAVE_POWER_DSEL_Pin,
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GPIO_PIN_RESET);
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// TODO: Enable & read out current
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HAL_GPIO_WritePin(SLAVE_POWER_DEN_GPIO_Port, SLAVE_POWER_DEN_Pin,
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GPIO_PIN_RESET);
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}
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void slaves_check() {
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int any_slave_error = 0;
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TSErrorKind slave_error = TS_ERRORKIND_NONE;
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uint32_t now = HAL_GetTick();
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uint16_t min_voltage_new = 0xFFFF;
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int16_t max_temp_new = 0xFFFF;
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for (int i = 0; i < N_SLAVES; i++) {
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// Update timeout errors
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if (now - slaves[i].last_message >= SLAVE_TIMEOUT) {
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// Don't overwrite a different error kind
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if (slaves[i].error.kind == SLAVE_ERR_NONE) {
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slaves[i].error.kind = SLAVE_ERR_TIMEOUT;
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can_send_error(TS_ERRORKIND_SLAVE_TIMEOUT, slaves[i].id);
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}
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} else if (slaves[i].error.kind == SLAVE_ERR_TIMEOUT) {
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slaves[i].error.kind = SLAVE_ERR_NONE;
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}
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// Determine min/max
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if (slaves[i].min_voltage < min_voltage_new) {
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min_voltage_new = slaves[i].min_voltage;
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}
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if (slaves[i].max_temp > max_temp_new) {
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max_temp_new = slaves[i].max_temp;
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}
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if (slaves[i].error.kind != SLAVE_ERR_NONE) {
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any_slave_error = 1;
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slave_error = (slaves[i].error.kind == SLAVE_ERR_TIMEOUT) ? TS_ERRORKIND_SLAVE_TIMEOUT : TS_ERRORKIND_SLAVE_PANIC;
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}
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}
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min_voltage = min_voltage_new;
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max_temp = max_temp_new;
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ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, slave_error, any_slave_error);
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}
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void slaves_handle_panic(const uint8_t *data) {
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const uint8_t **ptr = &data;
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uint8_t slave_id = ftcan_unmarshal_unsigned(ptr, 1);
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uint8_t idx = get_slave_index(slave_id);
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uint8_t error_kind = ftcan_unmarshal_unsigned(ptr, 1);
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switch (error_kind) {
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case SLAVE_PANIC_OT ... SLAVE_PANIC_INTERNAL_BMS_FAULT:
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slaves[idx].error.kind = error_kind + 2; //SlaveErrorKind on master is 2 higher than on slave (errors.h in slave firmware)
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break;
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default:
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slaves[idx].error.kind = SLAVE_ERR_UNKNOWN;
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break;
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}
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slaves[idx].error.data = ftcan_unmarshal_unsigned(&data, 4);
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slaves[idx].last_message = HAL_GetTick();
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ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, TS_ERRORKIND_SLAVE_PANIC, 1);
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can_send_error(TS_ERRORKIND_SLAVE_PANIC, slave_id);
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}
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void slaves_handle_status(const uint8_t *data) {
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uint8_t slave_id = data[0] & 0x7F;
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uint8_t idx = get_slave_index(slave_id);
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int error = data[0] & 0x80;
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if (!error) {
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slaves[idx].error.kind = SLAVE_ERR_NONE;
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}
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slaves[idx].soc = data[1];
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const uint8_t *ptr = &data[2];
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slaves[idx].min_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
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slaves[idx].max_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
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slaves[idx].max_temp = ftcan_unmarshal_unsigned(&ptr, 2);
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slaves[idx].last_message = HAL_GetTick();
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}
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void slaves_handle_log(const uint8_t *data) {
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// TODO
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}
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