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2c4a428534
Author | SHA1 | Date |
---|---|---|
jazzpi | 2c4a428534 | |
jazzpi | 405b255936 | |
jazzpi | c8d6894e4b |
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@ -14,6 +14,8 @@
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#include "stm32f4xx_hal_can.h"
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#include "stm32f4xx_hal_def.h"
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#include <stdint.h>
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#define CAN_ID_SLAVE_ERROR 0x001
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#define CAN_ID_AMS_SLAVE_HEARTBEAT_BASE 0x600
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#define CAN_HEARTBEAT_TX_TIMEOUT 5 /* ms */
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@ -24,9 +26,18 @@ void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data);
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void ams_can_handle_car_msg(CAN_RxHeaderTypeDef* header, uint8_t* data);
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void ams_can_send_heartbeat();
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void ams_can_send_error(AMS_ErrorCode error_code);
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/**
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* @brief Send an AMS Error via CAN.
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*
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* @param error_code The kind of error
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* @param transmission_timeout How long to wait for the transmission to complete
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* after starting it (in ms). Set to 0 for no wait.
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*/
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void ams_can_send_error(AMS_ErrorCode error_code,
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uint32_t transmission_timeout);
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HAL_StatusTypeDef ams_can_wait_for_free_mailbox(CAN_HandleTypeDef* handle,
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HAL_StatusTypeDef ams_can_wait_for_free_mailboxes(CAN_HandleTypeDef* handle,
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int num_mailboxes,
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uint32_t timeout);
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#endif /* INC_AMS_CAN_H_ */
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@ -20,6 +20,7 @@
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#define CELL_UV_THRESHOLD 34100 // 2.6V
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extern uint16_t cell_voltages[N_CELLS];
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extern uint16_t max_voltage, min_voltage;
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typedef enum { BQ_OFF, BQ_RDY, BQ_STDBY, BQ_INIT_PHASE, BQ_ERROR } BQ_Status;
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extern BQ_Status bq_status;
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@ -5,8 +5,14 @@
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#include "stm32f4xx_hal_def.h"
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#include "stm32f4xx_hal_tim.h"
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typedef enum { FANS_OFF, FANS_ON } FanState;
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extern FanState fan_state;
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HAL_StatusTypeDef fan_ctrl_init(TIM_HandleTypeDef* handle, uint32_t channel);
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void fan_ctrl_update();
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/**
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* @brief Set the power of the fan (0 -> off, 100 -> full power).
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*/
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@ -11,18 +11,22 @@
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#include "common_defs.h"
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_hal_def.h"
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#include "stm32f4xx_hal_uart.h"
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#define N_SENSORS 32
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#define N_TEMP_SENSORS 32
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#define TMP144_RESPONSE_TIMEOUT 100 /* ms */
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extern volatile uint16_t temperatures[N_SENSORS];
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extern volatile uint16_t max_temp;
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extern volatile uint16_t temperatures[N_TEMP_SENSORS];
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extern volatile uint16_t min_temperature;
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extern volatile uint16_t max_temperature;
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typedef enum {
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TMP144_IDLE,
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TMP144_RESETTING,
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TMP144_INITIALIZING,
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TMP144_READING_TEMP
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TMP144_READING_TEMP,
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TMP144_ERROR
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} TMP144State;
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typedef struct {
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@ -32,11 +36,18 @@ typedef struct {
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uint8_t rxbuf[34];
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size_t n_sensors;
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uint32_t expected_response_time;
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} TMP144Bus;
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extern volatile TMP144Bus tmp144_bus_busbar;
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extern volatile TMP144Bus tmp144_bus_other;
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HAL_StatusTypeDef tmp144_init(UART_HandleTypeDef* busbar_side,
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UART_HandleTypeDef* other_side);
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HAL_StatusTypeDef tmp144_check_timeouts();
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HAL_StatusTypeDef tmp144_init_reset(TMP144Bus* bus);
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HAL_StatusTypeDef tmp144_init_post_reset(TMP144Bus* bus);
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HAL_StatusTypeDef tmp144_init_post_addr(TMP144Bus* bus);
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@ -40,7 +40,9 @@ typedef enum {
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AMS_ERROR_UV,
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AMS_ERROR_OV,
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AMS_ERROR_UT,
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AMS_ERROR_OT
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AMS_ERROR_OT,
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AMS_ERROR_BQ,
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AMS_ERROR_TMP144
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} AMS_ErrorCode;
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/* USER CODE END ET */
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@ -52,6 +54,15 @@ extern uint8_t slave_id;
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/* Exported macro ------------------------------------------------------------*/
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/* USER CODE BEGIN EM */
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#define MAIN_LOOP_PERIOD 100 /* ms */
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#define AMS_ERROR_TX_TIMEOUT 2 /* ms */
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#define THRESH_UV 32768 /* 2.5V */
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#define THRESH_OV 55050 /* 4.2V */
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#define THRESH_UT 0 /* 0C */
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#define THRESH_OT 880 /* 55C */
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#define THRESH_FANS_ON_HALF 640 /* 40C */
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#define THRESH_FANS_ON_FULL 800 /* 50C */
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#define THRESH_FANS_OFF 560 /* 35C */
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/* USER CODE END EM */
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void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
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@ -61,6 +72,7 @@ void Error_Handler(void);
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/* USER CODE BEGIN EFP */
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void update_status_leds();
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void check_error_conditions();
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void delay_period();
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/* USER CODE END EFP */
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@ -16,6 +16,8 @@
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_hal_can.h"
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#include <stdint.h>
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static CAN_HandleTypeDef* handle_ams;
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static CAN_HandleTypeDef* handle_car;
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@ -127,7 +129,8 @@ void ams_can_send_heartbeat() {
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}
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}
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void ams_can_send_error(AMS_ErrorCode error_code) {
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void ams_can_send_error(AMS_ErrorCode error_code,
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uint32_t transmission_timeout) {
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static CAN_TxHeaderTypeDef header;
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header.IDE = CAN_ID_STD;
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header.DLC = 8;
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@ -143,13 +146,15 @@ void ams_can_send_error(AMS_ErrorCode error_code) {
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CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
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uint32_t mailbox;
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HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox);
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ams_can_wait_for_free_mailboxes(handle_ams, 3, transmission_timeout);
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}
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HAL_StatusTypeDef ams_can_wait_for_free_mailbox(CAN_HandleTypeDef* handle,
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HAL_StatusTypeDef ams_can_wait_for_free_mailboxes(CAN_HandleTypeDef* handle,
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int num_mailboxes,
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uint32_t timeout) {
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uint32_t end = HAL_GetTick() + timeout;
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while (HAL_GetTick() < end) {
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if (HAL_CAN_GetTxMailboxesFreeLevel(handle) > 0) {
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if (HAL_CAN_GetTxMailboxesFreeLevel(handle) >= num_mailboxes) {
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return HAL_OK;
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}
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}
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@ -16,6 +16,7 @@
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#include <string.h>
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uint16_t cell_voltages[N_CELLS];
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uint16_t max_voltage, min_voltage;
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BQ_Status bq_status;
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BQ_Error_Description bq_error;
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@ -82,11 +83,20 @@ void afe_measure() {
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lastmeasurementtime = HAL_GetTick();
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if (retval == BQ_COMM_OK) {
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uint16_t max = 0;
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uint16_t min = 0xFFFF;
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for (int n = 0; n < N_CELLS; n++) {
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cell_voltages[N_CELLS - 1 - n] =
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(uint16_t)(cellvoltagebuffer[2 * n] << 8) +
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(uint16_t)cellvoltagebuffer[2 * n + 1];
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uint16_t v = cellvoltagebuffer[2 * n] << 8 | cellvoltagebuffer[2 * n + 1];
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cell_voltages[N_CELLS - 1 - n] = v;
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if (v > max) {
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max = v;
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}
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if (v < min) {
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min = v;
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}
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}
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max_voltage = max;
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min_voltage = min;
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} else if (retval == BQ_COMM_ERR_HAL) {
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bq_set_error_with_loc(BQ_COMM_ERR_HAL, BQ_ERROR_LOC_MEASURE);
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} else if (retval == BQ_COMM_ERR_CRC) {
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@ -1,18 +1,48 @@
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#include "FanControl.h"
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#include "TMP144.h"
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#include "main.h"
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#include "stm32f4xx_hal_def.h"
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#include "stm32f4xx_hal_tim.h"
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#include <stdint.h>
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TIM_HandleTypeDef* timer;
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uint32_t channel;
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FanState fan_state;
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HAL_StatusTypeDef fan_ctrl_init(TIM_HandleTypeDef* handle, uint32_t channel_) {
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timer = handle;
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channel = channel_;
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fan_state = FANS_OFF;
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return HAL_TIM_PWM_Start(timer, channel);
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}
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void fan_ctrl_update() {
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if (fan_state == FANS_OFF && max_temperature > THRESH_FANS_ON_HALF) {
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fan_state = FANS_ON;
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} else if (fan_state == FANS_ON && max_temperature < THRESH_FANS_OFF) {
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fan_state = FANS_OFF;
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}
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uint32_t power;
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if (fan_state == FANS_OFF) {
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power = 0;
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} else {
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if (max_temperature < THRESH_FANS_ON_HALF) {
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power = 50;
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} else if (max_temperature > THRESH_FANS_ON_FULL) {
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power = 100;
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} else {
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power = (100 * (max_temperature - THRESH_FANS_ON_HALF)) /
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(THRESH_FANS_ON_FULL - THRESH_FANS_ON_HALF);
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}
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}
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fan_ctrl_set_power(power);
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}
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void fan_ctrl_set_power(uint32_t percent) {
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if (percent > 100) {
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percent = 100;
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@ -7,6 +7,10 @@
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#include "TMP144.h"
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_hal_def.h"
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#include "stm32f4xx_hal_uart.h"
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#include <stdint.h>
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#include <string.h>
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@ -14,11 +18,12 @@ static const uint8_t TMP144_SEQ_RESET[] = {0x55, 0xB4};
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static const uint8_t TMP144_SEQ_ADDR[] = {0x55, 0x8C, 0x90};
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static const uint8_t TMP144_SEQ_READ_TEMPS[] = {0x55, 0xF1};
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volatile uint16_t temperatures[N_SENSORS];
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volatile uint16_t max_temp;
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volatile uint16_t temperatures[N_TEMP_SENSORS];
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volatile uint16_t min_temperature;
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volatile uint16_t max_temperature;
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static volatile TMP144Bus bus_busbar;
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static volatile TMP144Bus bus_other;
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volatile TMP144Bus tmp144_bus_busbar;
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volatile TMP144Bus tmp144_bus_other;
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#define CHECK_STATUS(s) \
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{ \
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@ -29,22 +34,35 @@ static volatile TMP144Bus bus_other;
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HAL_StatusTypeDef tmp144_init(UART_HandleTypeDef* busbar_side,
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UART_HandleTypeDef* other_side) {
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bus_busbar.handle = busbar_side;
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bus_other.handle = other_side;
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tmp144_bus_busbar.handle = busbar_side;
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tmp144_bus_other.handle = other_side;
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bus_busbar.state = TMP144_IDLE;
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bus_other.state = TMP144_IDLE;
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tmp144_bus_busbar.state = TMP144_IDLE;
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tmp144_bus_other.state = TMP144_IDLE;
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// TODO: Configure this in EEPROM
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bus_busbar.n_sensors = 16;
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bus_other.n_sensors = 16;
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tmp144_bus_busbar.n_sensors = N_TEMP_SENSORS / 2;
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tmp144_bus_other.n_sensors = N_TEMP_SENSORS / 2;
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CHECK_STATUS(tmp144_init_reset(&bus_busbar));
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CHECK_STATUS(tmp144_init_reset(&bus_other));
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CHECK_STATUS(tmp144_init_reset(&tmp144_bus_busbar));
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CHECK_STATUS(tmp144_init_reset(&tmp144_bus_other));
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return HAL_OK;
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}
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HAL_StatusTypeDef tmp144_check_timeouts() {
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uint32_t now = HAL_GetTick();
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uint32_t t1 = tmp144_bus_busbar.expected_response_time;
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uint32_t t2 = tmp144_bus_other.expected_response_time;
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if (t1 != 0 && t1 < now) {
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tmp144_bus_busbar.state = TMP144_ERROR;
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}
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if (t2 != 0 && t2 < now) {
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tmp144_bus_other.state = TMP144_ERROR;
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}
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return HAL_OK;
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}
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HAL_StatusTypeDef tmp144_init_reset(TMP144Bus* bus) {
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if (bus->state != TMP144_IDLE) {
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return HAL_ERROR;
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@ -55,17 +73,19 @@ HAL_StatusTypeDef tmp144_init_reset(TMP144Bus* bus) {
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// Keep sending Global Software Reset until it echoes back (as per 7.5.2)
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int tries = 0;
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do {
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if (tries > 10) {
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if (tries > bus->n_sensors) {
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bus->state = TMP144_ERROR;
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return HAL_TIMEOUT;
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}
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CHECK_STATUS(HAL_UART_Transmit(bus->handle, TMP144_SEQ_RESET,
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sizeof(TMP144_SEQ_RESET), 100));
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HAL_Delay(100);
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HAL_Delay(50);
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tries++;
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} while (bus->state == TMP144_RESETTING);
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bus->state = TMP144_INITIALIZING;
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CHECK_STATUS(HAL_UART_Receive_IT(bus->handle, bus->rxbuf, 3));
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bus->expected_response_time = HAL_GetTick() + 100;
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CHECK_STATUS(HAL_UART_Transmit(bus->handle, TMP144_SEQ_ADDR,
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sizeof(TMP144_SEQ_ADDR), 100));
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@ -92,6 +112,7 @@ HAL_StatusTypeDef tmp144_init_post_addr(TMP144Bus* bus) {
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uint8_t n_sensors = bus->rxbuf[idx_response] - TMP144_SEQ_ADDR[idx_response];
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if (n_sensors != bus->n_sensors) {
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bus->state = TMP144_ERROR;
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return HAL_ERROR;
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}
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bus->state = TMP144_IDLE;
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@ -100,8 +121,8 @@ HAL_StatusTypeDef tmp144_init_post_addr(TMP144Bus* bus) {
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}
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HAL_StatusTypeDef tmp144_read_temps() {
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CHECK_STATUS(tmp144_send_read_temps(&bus_busbar));
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CHECK_STATUS(tmp144_send_read_temps(&bus_other));
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CHECK_STATUS(tmp144_send_read_temps(&tmp144_bus_busbar));
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CHECK_STATUS(tmp144_send_read_temps(&tmp144_bus_other));
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return HAL_OK;
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}
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@ -112,11 +133,10 @@ HAL_StatusTypeDef tmp144_send_read_temps(TMP144Bus* bus) {
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}
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bus->state = TMP144_READING_TEMP;
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// HAL_UART_Receive_IT(bus->handle, bus->rxbuf,
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// sizeof(TMP144_SEQ_READ_TEMPS) + 2 * bus->n_sensors);
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CHECK_STATUS(
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HAL_UART_Receive_IT(bus->handle, bus->rxbuf,
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sizeof(TMP144_SEQ_READ_TEMPS) + 2 * bus->n_sensors));
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bus->expected_response_time = HAL_GetTick() + TMP144_RESPONSE_TIMEOUT;
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CHECK_STATUS(HAL_UART_Transmit(bus->handle, TMP144_SEQ_READ_TEMPS,
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sizeof(TMP144_SEQ_READ_TEMPS), 100));
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@ -134,7 +154,8 @@ HAL_StatusTypeDef tmp144_recv_temps(TMP144Bus* bus) {
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return HAL_ERROR;
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}
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size_t temperatures_offset = (bus == &bus_busbar) ? 0 : N_SENSORS / 2;
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size_t temperatures_offset =
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(bus == &tmp144_bus_busbar) ? 0 : N_TEMP_SENSORS / 2;
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for (size_t i = 0; i < bus->n_sensors; i++) {
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size_t buf_offset = headerlen + 2 * i;
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uint16_t temp =
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@ -143,27 +164,34 @@ HAL_StatusTypeDef tmp144_recv_temps(TMP144Bus* bus) {
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}
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uint16_t max = temperatures[0];
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for (size_t i = 1; i < N_SENSORS; i++) {
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uint16_t min = temperatures[0];
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for (size_t i = 1; i < N_TEMP_SENSORS; i++) {
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if (temperatures[i] > max) {
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max = temperatures[i];
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}
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if (temperatures[i] < min) {
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min = temperatures[i];
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}
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max_temp = max;
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}
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max_temperature = max;
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min_temperature = min;
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return HAL_OK;
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}
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void tmp144_handle_rx_cplt(UART_HandleTypeDef* handle) {
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TMP144Bus* bus;
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if (handle == bus_busbar.handle) {
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bus = &bus_busbar;
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} else if (handle == bus_other.handle) {
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bus = &bus_other;
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if (handle == tmp144_bus_busbar.handle) {
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bus = &tmp144_bus_busbar;
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} else if (handle == tmp144_bus_other.handle) {
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bus = &tmp144_bus_other;
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} else {
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// TODO
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Error_Handler();
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}
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bus->expected_response_time = 0;
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switch (bus->state) {
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case TMP144_IDLE:
|
||||
// TODO
|
||||
|
|
|
@ -21,10 +21,12 @@
|
|||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "AMS_CAN.h"
|
||||
#include "BQ_Abstraction_Layer.h"
|
||||
#include "EEPROM.h"
|
||||
#include "FanControl.h"
|
||||
#include "TMP144.h"
|
||||
#include "common_defs.h"
|
||||
|
||||
#include "stm32f4xx_hal.h"
|
||||
#include "stm32f4xx_hal_gpio.h"
|
||||
|
@ -94,6 +96,29 @@ void update_status_leds() {
|
|||
}
|
||||
}
|
||||
|
||||
void check_error_conditions() {
|
||||
if (bq_status != BQ_RDY) {
|
||||
ams_can_send_error(AMS_ERROR_BQ, AMS_ERROR_TX_TIMEOUT);
|
||||
}
|
||||
tmp144_check_timeouts();
|
||||
if (tmp144_bus_busbar.state == TMP144_ERROR ||
|
||||
tmp144_bus_other.state == TMP144_ERROR) {
|
||||
ams_can_send_error(AMS_ERROR_TMP144, AMS_ERROR_TX_TIMEOUT);
|
||||
}
|
||||
if (min_voltage < THRESH_UV) {
|
||||
ams_can_send_error(AMS_ERROR_UV, AMS_ERROR_TX_TIMEOUT);
|
||||
}
|
||||
if (max_voltage > THRESH_OV) {
|
||||
ams_can_send_error(AMS_ERROR_OV, AMS_ERROR_TX_TIMEOUT);
|
||||
}
|
||||
if (min_temperature < THRESH_UT) {
|
||||
ams_can_send_error(AMS_ERROR_UT, AMS_ERROR_TX_TIMEOUT);
|
||||
}
|
||||
if (max_temperature > THRESH_OT) {
|
||||
ams_can_send_error(AMS_ERROR_OT, AMS_ERROR_TX_TIMEOUT);
|
||||
}
|
||||
}
|
||||
|
||||
void delay_period() {
|
||||
static uint32_t last_it = 0;
|
||||
uint32_t now = HAL_GetTick();
|
||||
|
@ -161,8 +186,10 @@ int main(void) {
|
|||
/* USER CODE BEGIN 3 */
|
||||
update_status_leds();
|
||||
afe_measure();
|
||||
tmp144_read_temps();
|
||||
check_error_conditions();
|
||||
fan_ctrl_update();
|
||||
delay_period();
|
||||
fan_ctrl_set_power((HAL_GetTick() / 100) % 100);
|
||||
}
|
||||
/* USER CODE END 3 */
|
||||
}
|
||||
|
|
Loading…
Reference in New Issue