Merge branch 'master-test' of https://git.fasttube.de/FaSTTUBe/ams-master into master-test

AMS_Master_Code/.vscode/launch.json

@@ -58,6 +58,25 @@
           }
         ]
       }
+    },
+    {
+      "name": "C/C++ Runner: Debug Session",
+      "type": "cppdbg",
+      "request": "launch",
+      "args": [],
+      "stopAtEntry": false,
+      "externalConsole": true,
+      "cwd": "c:/lene/fasttube/FT25/03_ams/ams-master/AMS_Master_Code/Core/Src",
+      "program": "c:/lene/fasttube/FT25/03_ams/ams-master/AMS_Master_Code/Core/Src/build/Debug/outDebug",
+      "MIMode": "gdb",
+      "miDebuggerPath": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
     }
   ]
 }

AMS_Master_Code/Core/Inc/main.h

@@ -41,6 +41,14 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 /* 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 */
 

AMS_Master_Code/Core/Src/can.c

@@ -3,7 +3,7 @@
 #include "imd_monitoring.h"
 #include "main.h"
 #include "shunt_monitoring.h"
-#include "slave_monitoring.h"
+//#include "slave_monitoring.h"
 #include "soc_estimation.h"
 #include "ts_state_machine.h"
 
@@ -15,17 +15,17 @@
 void can_init(FDCAN_HandleTypeDef *handle) {
   ftcan_init(handle);
   ftcan_add_filter(CAN_ID_SHUNT_BASE, 0xFF0);
-  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_LOG, 0xFFF);
+  // 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_LOG, 0xFFF);
 }
 
 HAL_StatusTypeDef can_send_status() {
   uint8_t data[8];
   data[0] = ts_state.current_state | (sdc_closed << 7);
   data[1] = roundf(current_soc);
-  ftcan_marshal_unsigned(&data[2], min_voltage, 2);
+  ftcan_marshal_unsigned(&data[2], min_voltage, 2);   //was declared in slave_monitoring.c 
   ftcan_marshal_signed(&data[4], max_temp, 2);
   data[6] = imd_data.state | (imd_data.ok << 7);
   if (imd_data.r_iso < 0xFFF) {
@@ -54,19 +54,20 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
   if ((id & 0xFF0) == CAN_ID_SHUNT_BASE) {
     shunt_handle_can_msg(id, data);
     return;
-  } else if ((id & 0xFF0) == CAN_ID_SLAVE_STATUS_BASE) {
-    slaves_handle_status(data);
-    return;
-  }
-  switch (id) {
-  case CAN_ID_SLAVE_PANIC:
-    slaves_handle_panic(data);
-    break;
-  case CAN_ID_SLAVE_LOG:
-    slaves_handle_log(data);
-    break;
-  case CAN_ID_AMS_IN:
-    ts_sm_handle_ams_in(data);
-    break;
-  }
+  } 
+  // else if ((id & 0xFF0) == CAN_ID_SLAVE_STATUS_BASE) {
+  //   slaves_handle_status(data);
+  //   return;
+  // }
+  // switch (id) {
+  // case CAN_ID_SLAVE_PANIC:
+  //   slaves_handle_panic(data);
+  //   break;
+  // case CAN_ID_SLAVE_LOG:
+  //   slaves_handle_log(data);
+  //   break;
+  // case CAN_ID_AMS_IN:
+  //   ts_sm_handle_ams_in(data);
+  //   break;
+  // }
 }

AMS_Master_Code/Core/Src/main.c

@@ -25,6 +25,16 @@
 #include "config_ADBMS6830.h"
 #include "swo_log.h"
 #include <string.h>
+
+//copied from master23
+#include "can.h"
+#include "imd_monitoring.h"
+#include "shunt_monitoring.h"
+#include "soc_estimation.h"
+#include "ts_state_machine.h"
+#include "status_led.h"
+
+#include "stm32h7xx_hal.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -55,6 +65,15 @@ TIM_HandleTypeDef htim15;
 
 /* 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 pre_and_air_open; // used to be:int precharge_opened = 0; now we read if PC is open from the pin -> high if open 
+
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -74,6 +93,42 @@ static void MX_ADC2_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 uint32_t volatile logging_mask = 0b11111; // no LOG_LEVEL_NOISY
+
+#define MAIN_LOOP_PERIOD 50
+
+static void loop_delay() {
+  static uint32_t last_loop = 0;
+  uint32_t dt = HAL_GetTick() - last_loop;
+  if (dt < MAIN_LOOP_PERIOD) {
+    HAL_Delay(MAIN_LOOP_PERIOD - dt);
+    //HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_RESET);
+  } else {
+    //HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_SET);
+  }
+  last_loop = HAL_GetTick();
+}
+
+static void update_sdc() {
+  static int last[2] = {0, 0};
+  sdc_closed_nodelay = HAL_GPIO_ReadPin(SDC_VOLTAGE_GPIO_Port, SDC_VOLTAGE_Pin) == GPIO_PIN_SET;
+  if (last[0] == last[1] && last[0] == sdc_closed_nodelay) {
+    sdc_closed = sdc_closed_nodelay;
+  }
+  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;
+  pre_and_air_open = HAL_GPIO_ReadPin(PRE_and_AIR__open_GPIO_Port,
+                                      PRE_and_AIR__open_Pin) == GPIO_PIN_SET;
+}
+
 /* USER CODE END 0 */
 
 /**
@@ -126,6 +181,16 @@ int main(void)
       HAL_Delay(2000);
     }
   }
+
+  //init fot master functions 
+  can_init(&hfdcan1);
+  //slaves_init();
+  shunt_init();
+  ts_sm_init();
+  soc_init();
+  imd_init(&htim15);
+  HAL_GPIO_WritePin(AMS_NERROR_GPIO_Port, AMS_NERROR_Pin, GPIO_PIN_SET);
+  
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -134,6 +199,7 @@ int main(void)
   int error_count = 0;
   while (1)
   {
+    //left over from slave communication test, could be nicer and in an additional function !!
     if (error_count > 25) {
       debug_log(LOG_LEVEL_ERROR, "Too many errors, restarting BMS...");
       status = AMS_Init(&hspi1);
@@ -274,7 +340,18 @@ int main(void)
       // get time difference
       debug_log(LOG_LEVEL_INFO, "  Time since last update: %d ms", HAL_GetTick() - lastTimestamp);
     }
-    HAL_Delay(100);
+
+    update_sdc();
+    update_tsal_signals();
+
+    //slaves_check(); 
+    shunt_check();
+    ts_sm_update();
+    soc_update();
+    imd_update();
+    can_send_status();
+
+    loop_delay();
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */