From 79f69333a5ec787775444c58622337b9843ad174 Mon Sep 17 00:00:00 2001
From: Kilian Bracher <k.bracher@fasttube.de>
Date: Thu, 4 Jul 2024 20:01:30 +0200
Subject: [PATCH] cleanup, some error handling

---
 Core/Inc/state_machine.h |  8 ++++----
 Core/Src/PWM_control.c   |  2 +-
 Core/Src/can.c           |  2 +-
 Core/Src/state_machine.c | 14 +++++++++-----
 4 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/Core/Inc/state_machine.h b/Core/Inc/state_machine.h
index b08e0ce..c5d5e3f 100644
--- a/Core/Inc/state_machine.h
+++ b/Core/Inc/state_machine.h
@@ -37,7 +37,6 @@ typedef enum {              //  states -> 3 bit. valid transitions: (all could t
 } State;
   
 typedef struct {  
-
   uint16_t bms_timeout : 1;
   uint16_t bms_fault : 1;
   uint16_t temperature_error : 1;
@@ -46,7 +45,8 @@ typedef struct {
   uint16_t voltage_error : 1;
   uint16_t voltage_missing : 1;
   uint16_t state_transition_fail : 1;
-
+  uint16_t eeprom_error : 1;
+  uint16_t : 7; // padding
 } ErrorKind;
 
 //typedef enum {} WarningKind;
@@ -59,8 +59,8 @@ typedef struct {
 } StateHandle;
 
 extern StateHandle state;
-static bool relay_closed = 0;
-static bool precharge_closed = 0;
+static bool relay_closed = 0; //NOTE: unused?
+static bool precharge_closed = 0; //NOTE: unused?
 extern int16_t RELAY_BAT_SIDE_VOLTAGE;
 extern int16_t RELAY_ESC_SIDE_VOLTAGE;
 extern int16_t CURRENT_MEASUREMENT;
diff --git a/Core/Src/PWM_control.c b/Core/Src/PWM_control.c
index 472657f..5a2a34f 100644
--- a/Core/Src/PWM_control.c
+++ b/Core/Src/PWM_control.c
@@ -13,7 +13,7 @@ TIM_HandleTypeDef *powerground, *battery_cooling, *esc_cooling;
 
 void PWM_control_init(TIM_HandleTypeDef* pg, TIM_HandleTypeDef* bat_cool, TIM_HandleTypeDef* esc_cool){
   powerground_status = 0;
-  battery_cooling_status = 0;
+  //battery_cooling_status = 0;
   
   powerground = pg;
   battery_cooling = bat_cool;
diff --git a/Core/Src/can.c b/Core/Src/can.c
index 0e4aebe..9800342 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -8,7 +8,7 @@
 
 //#define CAN_ID_IN   0x501
 //#define CAN_ID_OUT  0x502
-int can_delay_manager = 0;
+static uint32_t can_delay_manager = 0;
 void can_init(CAN_HandleTypeDef* hcan) { 
   ftcan_init(hcan); 
   ftcan_add_filter(CAN_ID_IN, 0xFFF);
diff --git a/Core/Src/state_machine.c b/Core/Src/state_machine.c
index 4dffdfc..89227f9 100644
--- a/Core/Src/state_machine.c
+++ b/Core/Src/state_machine.c
@@ -5,7 +5,6 @@
 #include "main.h"
 #include "stm32f3xx_hal.h"
 #include <stdint.h>
-#include <stdio.h>
 
 StateHandle state;
 int16_t RELAY_BAT_SIDE_VOLTAGE;
@@ -13,7 +12,7 @@ int16_t RELAY_ESC_SIDE_VOLTAGE;
 int16_t CURRENT_MEASUREMENT;
 uint8_t powerground_status;
 
-uint32_t timestamp;
+static uint32_t timestamp;
 
 void sm_init(){
   state.current_state = STATE_INACTIVE;
@@ -79,7 +78,7 @@ State sm_update_precharge(){
         PWM_set_throttle();
         return STATE_READY;
       }
-      break;
+      return STATE_PRECHARGE;
     case STATE_DISCHARGE:
       return STATE_DISCHARGE;
     default:
@@ -112,8 +111,7 @@ State sm_update_active(){
 State sm_update_discharge(){
   switch (state.target_state) {
     case STATE_DISCHARGE:
-      if (RELAY_ESC_SIDE_VOLTAGE < 5000)
-        return STATE_INACTIVE;
+      return (RELAY_ESC_SIDE_VOLTAGE < 5000) ? STATE_INACTIVE : STATE_DISCHARGE;
     case STATE_PRECHARGE:       // if CAN Signal 1000 0000 then get ready
       return STATE_PRECHARGE;
     default: 
@@ -259,12 +257,18 @@ void sm_check_errors(){
     case SEK_UNDERTEMP:
     case SEK_TOO_FEW_TEMPS:
       state.error_type.temperature_error = 1;
+      break;
     case SEK_OVERVOLT:
     case SEK_UNDERVOLT:
     case SEK_OPENWIRE:
+      state.error_type.voltage_error = 1;
+      break;
     case SEK_EEPROM_ERR:
+      state.error_type.eeprom_error = 1;
+      break;
     case SEK_INTERNAL_BMS_TIMEOUT:
       state.error_type.bms_timeout = 1;
+      break;
     case SEK_INTERNAL_BMS_CHECKSUM_FAIL:
     case SEK_INTERNAL_BMS_OVERTEMP:
     case SEK_INTERNAL_BMS_FAULT: