cleanup, some error handling

Core/Inc/PWM_control.h

@@ -20,14 +20,12 @@ CCR * DUTY_CYCLE
 CCR: 1/20 -> 500, 2/20 -> 1000
 */
 #define POWERGROUND_FREQ            50
-#define POWERGROUND_MAX_DUTY_CYCLE  0.1
-#define POWERGROUND_MIN_DUTY_CYCLE  0.05
 
 //#define BATTERY_COOLING_FREQ        20000
 
 void PWM_control_init(TIM_HandleTypeDef* pg, TIM_HandleTypeDef* bat_cool, TIM_HandleTypeDef* esc_cool);
 void PWM_powerground_control(uint8_t percent);
 void PWM_battery_cooling_control(uint8_t percent);
-void PWM_esc_cooling(uint8_t percent);
+void PWM_set_throttle();
 
 #endif /* INC_CHANNEL_CONTROL_H */

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;

Core/Src/PWM_control.c

@@ -1,4 +1,6 @@
 #include "PWM_control.h"
+#include "stm32f3xx_hal.h"
+#include <stdint.h>
 
 //uint32_t powerground1_CCR, powerground2_CCR, battery_cooling_CCR;
 
@@ -11,32 +13,51 @@ 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;
+  
+  powerground = pg;
+  battery_cooling = bat_cool;
 
   HAL_TIM_PWM_Start(pg, TIM_CHANNEL_1);          //TIM15CH1
   HAL_TIM_PWM_Start(pg, TIM_CHANNEL_2);          //TIM15CH2
   HAL_TIM_PWM_Start(bat_cool, TIM_CHANNEL_3);     //TIM1CH3
 
-  powerground = pg;
-  battery_cooling = bat_cool;
-  esc_cooling = esc_cool;
-  
-  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_1, 2000);
-  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_2, 2000);
+  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_1, 0);
+  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_2, 0);
+
+  //PWM_powerground_control(0);
   //__HAL_TIM_SET_COMPARE(battery_cooling, TIM_CHANNEL_3, 2000);
 }              
 
 /*
   controls the duty cycle of the fans by setting the CCR of the channel percent/100 = x/ARR
+  DUTYCYCLE = 40000 * X/100
 */
 void PWM_powerground_control(uint8_t percent){
   if (percent > 100) //something went wrong
     return;
   powerground_status = percent;
+
   int ccr = 2000 + ((2000) * (percent/100.0));
   __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_1, ccr);
-  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_2, 2000 + ((2000) * (percent/100.0)));
+  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_2, ccr);
   //TIM15->CCR1 = (TIM15->ARR*POWERGROUND_MAX_DUTY_CYCLE-TIM15->ARR*POWERGROUND_MIN_DUTY_CYCLE) * (percent/100.0) + TIM15->ARR*POWERGROUND_MIN_DUTY_CYCLE;
 }
 
+void PWM_set_throttle(){
+  uint32_t timestamp = HAL_GetTick() + 5000;
+  while (timestamp > HAL_GetTick()) {}
+
+  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_1, 4000);
+  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_2, 4000);
+  timestamp = HAL_GetTick() + 2000;
+  while (timestamp > HAL_GetTick()) {}
+
+  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_1, 2000);
+  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_2, 2000);
+  timestamp = HAL_GetTick() + 1000;
+  while (timestamp > HAL_GetTick()) {}
+}
+
 void PWM_battery_cooling_control(uint8_t percent){}
 void PWM_esc_cooling(uint8_t percent){}

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);

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;
@@ -75,9 +74,11 @@ State sm_update_precharge(){
     case STATE_INACTIVE:          // if CAN Signal 0000 0000 then immidiete shutdown
       return STATE_DISCHARGE;
     case STATE_PRECHARGE:
-      if (RELAY_BAT_SIDE_VOLTAGE-RELAY_ESC_SIDE_VOLTAGE < 100)
+      if (RELAY_BAT_SIDE_VOLTAGE-RELAY_ESC_SIDE_VOLTAGE < 100){
+        PWM_set_throttle();
         return STATE_READY;
-      break;
+      }
+      return STATE_PRECHARGE;
     case STATE_DISCHARGE:
       return STATE_DISCHARGE;
     default:
@@ -110,8 +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: 
@@ -229,21 +229,18 @@ void sm_handle_ams_in(const uint8_t *data){
   switch (data[0]) {
     case 0x00:
       if (state.current_state != STATE_INACTIVE){
-        PWM_powerground_control(0);
         state.target_state = STATE_DISCHARGE;
       }
       break;
     case 0x01:
       if (state.target_state == STATE_INACTIVE || state.target_state == STATE_DISCHARGE){
-        PWM_powerground_control(0);
         state.target_state = STATE_PRECHARGE;
       } else if (state.target_state == STATE_ACTIVE){
-        PWM_powerground_control(0);
         state.target_state = STATE_READY;
       }
       break;
     case 0x02:
-      if (state.current_state == STATE_READY){
+      if (state.current_state == STATE_READY || state.current_state == STATE_ACTIVE){
         PWM_powerground_control(data[1]);
         state.target_state = STATE_ACTIVE;        // READY -> ACTIVE
       }
@@ -260,12 +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: