balancing update

.gitignore

@@ -1,45 +1,9 @@
-# ---> KiCad
+/.vscode/
-# For PCBs designed using KiCad: https://www.kicad.org/
+/build/
-# Format documentation: https://kicad.org/help/file-formats/
+/Debug
-
+/.cache/
-# Temporary files
+.clangd
-*.000
+compile_commands.json
-*.bak
+STM32Make.make
-*.bck
+/.metadata/
-*.kicad_pcb-bak
+openocd.cfg
-*.kicad_sch-bak
-*-backups
-*.kicad_prl
-*.sch-bak
-*~
-_autosave-*
-*.tmp
-*-save.pro
-*-save.kicad_pcb
-fp-info-cache
-
-# Netlist files (exported from Eeschema)
-*.net
-
-# Autorouter files (exported from Pcbnew)
-*.dsn
-*.ses
-
-# Exported BOM files
-*.xml
-*.csv
-
-# ---> VisualStudioCode
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "Software/Core/Lib/can-halal"]
+[submodule "Core/Lib/can-halal"]
-	path = Software/Core/Lib/can-halal
+	path = Core/Lib/can-halal
 	url = ssh://git@git.fasttube.de:313/FaSTTUBe/can-halal.git

Core/Inc/ADBMS_Abstraction.h

@@ -47,7 +47,7 @@ struct ADBMS6830_Internal_Status {
 
 typedef struct {
   int16_t cellVoltages[MAXIMUM_CELL_VOLTAGES];
-  float auxVoltages[MAXIMUM_AUX_VOLTAGES];
+  int16_t auxVoltages[MAXIMUM_AUX_VOLTAGES];
 
   struct ADBMS6830_Internal_Status status;
   uint16 internalDieTemp;

Core/Inc/ADBMS_LL_Driver.h

@@ -27,8 +27,8 @@ uint8 calculateDataPEC(uint8* data, uint8 datalen);
 uint16 updateDataPEC(uint16 currentPEC, uint8 din);
 uint8 checkDataPEC(uint8* data, uint8 datalen);
 
-[[gnu::access(read_only, 2, 3)]] uint8 writeCMD(uint16 command, const uint8* args, uint8 arglen);
+uint8 writeCMD(uint16 command, uint8* args, uint8 arglen);
-[[gnu::access(write_only, 2, 3)]] uint8 readCMD(uint16 command, uint8* buffer, uint8 buflen);
+uint8 readCMD(uint16 command, uint8* buffer, uint8 buflen);
 uint8 pollCMD(uint16 command);
 
 void mcuAdbmsCSLow();

Core/Inc/AMS_HighLevel.h

@@ -11,10 +11,12 @@
 #include "ADBMS_Abstraction.h"
 #include "ADBMS_CMD_MAKROS.h"
 #include "ADBMS_LL_Driver.h"
+#include "can.h"
+#include "TMP1075.h"
 #include "can-halal.h"
 #include "errors.h"
 #include "stm32f3xx_hal.h"
-#include <stdbool.h>
+#include <stdint.h>
 
 typedef enum {
   AMSDEACTIVE,
@@ -29,7 +31,11 @@ typedef enum {
 extern amsState currentAMSState;
 extern Cell_Module module;
 extern uint32_t balancedCells;
-extern bool BalancingActive;
+extern uint8_t BalancingActive;
+extern uint8_t stateofcharge;
+
+extern uint8_t amserrorcode;
+extern uint8_t amswarningcode;
 
 extern uint8_t numberofCells;
 extern uint8_t numberofAux;
@@ -44,4 +50,8 @@ uint8_t AMS_Error_Loop();
 uint8_t AMS_Charging_Loop();
 uint8_t AMS_Discharging_Loop();
 
+uint8_t writeWarningLog(uint8_t warningCode);
+uint8_t writeErrorLog(uint8_t errorCode);
+uint8_t integrateCurrent();
+
 #endif /* INC_AMS_HIGHLEVEL_H_ */

Core/Inc/PWM_control.h

@@ -1,21 +1,15 @@
-/*
- *  PWM_control.h
- *
- *  Created on: 07.07.2024
- *      Author: Hamza
- */
- 
 #ifndef INC_PWM_CONTROL_H
 #define INC_PWM_CONTROL_H
 
 #include "stm32f3xx_hal.h"
+#include "ADBMS_LL_Driver.h"
 #include "state_machine.h"
+#include <stdint.h>
+#include "main.h"
 
 /*  The PWM period (1/FPWM) is defined by the following parameters: 
 ARR value, the Prescaler value, and the internal clock itself which drives the timer module FCLK.
 F_PWM = (F_CLK)/((ARR + 1) * (PSC + 1))
-(ARR + 1) * (PSC + 1) = (F_CLK)/(F_PWM)
-(PSC + 1) = (F_CLK)/(F_PWM * (ARR + 1))
 
 F_CLK = 16 MHz
 
@@ -25,21 +19,14 @@ DUTY CYCLE = 1/20 -> 0%, DUTY CYCLE = 2/20 -> 100%
 CCR * DUTY_CYCLE
 CCR: 1/20 -> 500, 2/20 -> 1000
 */
-// UNUSED
 #define POWERGROUND_FREQ            50
-#define POWERGROUND_PRESCALER       7
-#define POWERGROUND_ARR             39999
-#define POWERGROUND_MIN_DUTY_CYCLE  0.05
-#define POWERGROUND_MAX_DUTY_CYCLE  0.1
 
 //#define BATTERY_COOLING_FREQ        20000
 
-extern uint8_t current_powerground_status;
+void PWM_control_init(TIM_HandleTypeDef* powerground, TIM_HandleTypeDef* battery_cooling);
-extern uint8_t target_powerground_status;
 
-void PWM_control_init(TIM_HandleTypeDef* pg, TIM_HandleTypeDef* bat_cool, TIM_HandleTypeDef* esc_cool);
-void PWM_powerground_softcontrol();
 void PWM_powerground_control(uint8_t percent);
 void PWM_battery_cooling_control(uint8_t percent);
+void PWM_set_throttle();
 
 #endif /* INC_CHANNEL_CONTROL_H */

Core/Inc/TMP1075.h

@@ -1,14 +1,14 @@
 #ifndef INC_TMP1075_H_
 #define INC_TMP1075_H_
 
+#include "can.h"
+#include "common_defs.h"
 #include "stm32f3xx_hal.h"
+#include "TMP1075.h"
 #include "can-halal.h"
 #include "errors.h"
 #include <stdint.h>
 
-#define N_CELLS        13
-#define N_TEMP_SENSORS 13
-
 extern uint32_t tmp1075_failed_sensors;
 extern int16_t tmp1075_temps[N_TEMP_SENSORS];
 

Core/Inc/can.h

@@ -1,26 +1,20 @@
-/*
- *  can.h
- *
- *  Created on: 07.07.2024
- *      Author: Hamza
- */
-
 #ifndef INC_CAN_H
 #define INC_CAN_H
 
 #include "stm32f3xx_hal.h"
+#include "ADBMS_Abstraction.h"
 #include "main.h"
 #include "can-halal.h"
+#include "AMS_HighLevel.h"
 #include "state_machine.h"
+#include <stdint.h>
 
-extern uint32_t can_status_timer, can_log_timer, can_timeout_timer;
+#define CAN_ID_IN   0x501
-
+#define CAN_ID_OUT  0x502
+#define CAN_STATUS_FREQ 1000
 void can_init(CAN_HandleTypeDef* hcan);
 
 void can_handle_send_status();
-void can_handle_send_log();
-
-void can_handle_dump();
 
 void can_handle_recieve_command(const uint8_t *data);
 

Core/Inc/common_defs.h

@@ -0,0 +1,14 @@
+/*
+ * common_defs.h
+ *
+ *  Created on: 23 Mar 2022
+ *      Author: Jasper
+ */
+
+#ifndef INC_COMMON_DEFS_H_
+#define INC_COMMON_DEFS_H_
+
+#define N_CELLS        12
+#define N_TEMP_SENSORS 12
+
+#endif /* INC_COMMON_DEFS_H_ */

Core/Inc/errors.h

@@ -12,7 +12,7 @@
 
 #define ERROR_TIME_THRESH 150 // ms
 
-typedef enum : uint16_t {
+typedef enum {
   SEK_OVERTEMP = 0x0,
   SEK_UNDERTEMP = 0x1,
   SEK_OVERVOLT = 0x2,
@@ -27,7 +27,7 @@ typedef enum : uint16_t {
 } SlaveErrorKind;
 
 typedef struct {
-  uint16_t error_sources;
+  int error_sources;
   SlaveErrorKind data_kind;
   uint8_t data[4];
   uint32_t errors_since;
@@ -35,7 +35,7 @@ typedef struct {
 
 extern SlaveErrorData error_data;
 
-void set_error_source(SlaveErrorKind source);
+void set_error_source(int source);
-void clear_error_source(SlaveErrorKind source);
+void clear_error_source(int source);
 
 #endif // INC_ERRORS_H

Core/Inc/main.h

@@ -59,40 +59,32 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
+#define RELAY_EN_Pin GPIO_PIN_0
+#define RELAY_EN_GPIO_Port GPIOA
+#define _60V_EN_Pin GPIO_PIN_1
+#define _60V_EN_GPIO_Port GPIOA
+#define PWM_PG_FAN1_Pin GPIO_PIN_2
+#define PWM_PG_FAN1_GPIO_Port GPIOA
+#define PWM_PG_FAN2_Pin GPIO_PIN_3
+#define PWM_PG_FAN2_GPIO_Port GPIOA
 #define CSB_Pin GPIO_PIN_4
 #define CSB_GPIO_Port GPIOA
-#define ESC_L_PWM_Pin GPIO_PIN_0
+#define STATUS_LED_R_Pin GPIO_PIN_0
-#define ESC_L_PWM_GPIO_Port GPIOB
-#define ESC_R_PWM_Pin GPIO_PIN_1
-#define ESC_R_PWM_GPIO_Port GPIOB
-#define BAT_COOLING_PWM_Pin GPIO_PIN_10
-#define BAT_COOLING_PWM_GPIO_Port GPIOB
-#define BAT_COOLING_ENABLE_Pin GPIO_PIN_11
-#define BAT_COOLING_ENABLE_GPIO_Port GPIOB
-#define ESC_COOLING_ENABLE_Pin GPIO_PIN_14
-#define ESC_COOLING_ENABLE_GPIO_Port GPIOB
-#define ESC_COOLING_PWM_Pin GPIO_PIN_15
-#define ESC_COOLING_PWM_GPIO_Port GPIOB
-#define EEPROM___WC__Pin GPIO_PIN_8
-#define EEPROM___WC__GPIO_Port GPIOA
-#define EEPROM_SCL_Pin GPIO_PIN_9
-#define EEPROM_SCL_GPIO_Port GPIOA
-#define EEPROM_SDA_Pin GPIO_PIN_10
-#define EEPROM_SDA_GPIO_Port GPIOA
-#define TMP_SCL_Pin GPIO_PIN_15
-#define TMP_SCL_GPIO_Port GPIOA
-#define RELAY_ENABLE_Pin GPIO_PIN_4
-#define RELAY_ENABLE_GPIO_Port GPIOB
-#define PRECHARGE_ENABLE_Pin GPIO_PIN_5
-#define PRECHARGE_ENABLE_GPIO_Port GPIOB
-#define STATUS_LED_R_Pin GPIO_PIN_6
 #define STATUS_LED_R_GPIO_Port GPIOB
-#define STATUS_LED_G_Pin GPIO_PIN_7
+#define STATUS_LED_B_Pin GPIO_PIN_1
-#define STATUS_LED_G_GPIO_Port GPIOB
-#define STATUS_LED_B_Pin GPIO_PIN_8
 #define STATUS_LED_B_GPIO_Port GPIOB
-#define TMP_SDA_Pin GPIO_PIN_9
+#define STATUS_LED_G_Pin GPIO_PIN_2
-#define TMP_SDA_GPIO_Port GPIOB
+#define STATUS_LED_G_GPIO_Port GPIOB
+#define PRECHARGE_EN_Pin GPIO_PIN_11
+#define PRECHARGE_EN_GPIO_Port GPIOB
+#define PWM_Battery_Cooling_Pin GPIO_PIN_15
+#define PWM_Battery_Cooling_GPIO_Port GPIOB
+#define RELAY_BATT_SIDE_ON_Pin GPIO_PIN_8
+#define RELAY_BATT_SIDE_ON_GPIO_Port GPIOA
+#define RELAY_ESC_SIDE_ON_Pin GPIO_PIN_9
+#define RELAY_ESC_SIDE_ON_GPIO_Port GPIOA
+#define CURRENT_SENSOR_ON_Pin GPIO_PIN_10
+#define CURRENT_SENSOR_ON_GPIO_Port GPIOA
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/state_machine.h

@@ -1,26 +1,30 @@
-/*
- *  state_machine.h
- *
- *  Created on: 07.07.2024
- *      Author: Hamza
- */
-
 #ifndef INC_STATE_MACHINE_H
 #define INC_STATE_MACHINE_H
 
-#include "ADBMS_LL_Driver.h"
-#include <AMS_HighLevel.h>
-#include <can.h>
-#include <eeprom.h>
-#include <errors.h>
-#include <PWM_control.h>
-#include <status_LED.h>
-#include <TMP1075.h>
-
 #include <stdint.h>
 #include <stdbool.h>
+#include "ADBMS_LL_Driver.h"
+#include "AMS_HighLevel.h"
+#include "errors.h"
+#include "PWM_control.h"
+#include "TMP1075.h"
 #include <math.h>
 
+// Minimum vehicle side voltage to exit precharge
+#define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV
+// Time to wait after reaching 95% of battery voltage before exiting precharge
+// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
+#define PRECHARGE_95_DURATION 0 // ms
+// Time to wait for discharge
+#define DISCHARGE_DURATION 5000 // ms
+// Time to wait after there is no more error condition before exiting TS_ERROR
+#define NO_ERROR_TIME 1000 // ms
+// Time to wait for charger voltage before going to TS_ERROR
+#define MAX_CHARGING_CHECK_DURATION 2000 // ms
+// Time to wait between closing relays
+#define RELAY_CLOSE_WAIT 10 // ms
+
+#warning 
 typedef enum {              //  states -> 3 bit. valid transitions: (all could transition to error)
   STATE_INACTIVE,           // INACTIVE   ->  PRECHARGE, CHARGING, ERROR  
   STATE_PRECHARGE,          // PRECHARGE  ->  INACTIVE, READY, DISCHARGE, ERROR
@@ -33,6 +37,7 @@ 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;
@@ -41,8 +46,7 @@ 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;
@@ -54,27 +58,17 @@ typedef struct {
   ErrorKind error_type; // TSErrorKind
 } StateHandle;
 
-typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
-
 extern StateHandle state;
-extern bool programming_mode;
+static bool relay_closed = 0;
+static bool precharge_closed = 0;
+extern int16_t RELAY_BAT_SIDE_VOLTAGE;
+extern int16_t RELAY_ESC_SIDE_VOLTAGE;
+extern int16_t CURRENT_MEASUREMENT;
+extern uint8_t powerground_status;
 
-extern int32_t RELAY_BAT_SIDE_VOLTAGE;
-extern int32_t RELAY_ESC_SIDE_VOLTAGE;
-extern int32_t CURRENT_MEASUREMENT;
 
 void sm_init();
 void sm_update();
-void sm_handle_ams_in(const uint8 *data);
-void sm_precharge_discharge_manager();
-void sm_powerground_manager();
-void sm_calibrate_powerground();
-void sm_balancing();
-void sm_eeprom_write_status();
-void sm_program_powerground();
-
-void sm_check_errors();
-void sm_set_error_source();
 
 State sm_update_inactive();
 State sm_update_precharge();
@@ -85,14 +79,18 @@ State sm_update_charging_precharge();
 State sm_update_charging();
 State sm_update_error();
 
+typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
 void sm_set_relay_positions(State state);
 void sm_set_relay(Relay relay, bool closed);
+void sm_check_charging();
+void sm_check_battery_temperature(int8_t* id, int16_t* temp);
 
-void sm_check_battery_temperature(uint8_t* id, uint16_t* temp);
-void sm_check_battery_voltage(uint8_t* id, uint16_t* voltage);
 int16_t sm_return_cell_temperature(int id);
 int16_t sm_return_cell_voltage(int id);
 
+void sm_handle_ams_in(const uint8 *data);
+void sm_check_errors();
+void sm_set_error(ErrorKind error_kind, bool is_errored);
 void sm_test_cycle_states();
 
 #endif /* "INC_STATE_MACHINE_H" */

Core/Inc/stm32f3xx_hal_conf.h

@@ -58,7 +58,7 @@
 /*#define HAL_RTC_MODULE_ENABLED   */
 #define HAL_SPI_MODULE_ENABLED
 #define HAL_TIM_MODULE_ENABLED
-/*#define HAL_UART_MODULE_ENABLED   */
+#define HAL_UART_MODULE_ENABLED
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_IRDA_MODULE_ENABLED   */
 /*#define HAL_SMARTCARD_MODULE_ENABLED   */

Core/Src/ADBMS_Abstraction.c

@@ -28,7 +28,7 @@ uint8 amsReset() {
   amsStopBalancing();
   amsConfigOverUnderVoltage(DEFAULT_OV, DEFAULT_UV);
 
-  const uint8 buffer[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+  uint8 buffer[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
 
   CHECK_RETURN(writeCMD(CLRFLAG, buffer, 6)); //clear flags,
   CHECK_RETURN(writeCMD(CLOVUV, buffer, 6));  //OVUV flags
@@ -131,7 +131,6 @@ uint8 amsAuxAndStatusMeasurement(Cell_Module* module) {
 uint8 amsConfigBalancing(uint32 channels, uint8 dutyCycle) {
   uint8 buffer_a[PWM_GROUP_A_SIZE] = {};
   uint8 buffer_b[PWM_GROUP_B_SIZE] = {};
-  CHECK_RETURN(writeCMD(ADCV | ADCV_CONT, NULL, 0)); //start continuous cell voltage measurement with redundancy
   CHECK_RETURN(readCMD(RDPWMA, buffer_a, PWM_GROUP_A_SIZE));
   CHECK_RETURN(readCMD(RDPWMB, buffer_b, PWM_GROUP_B_SIZE));
 
@@ -202,11 +201,13 @@ uint8 amsCheckUnderOverVoltage(Cell_Module* module) {
 }
 
 uint8 amsClearAux() {
-  return writeCMD(CLRAUX, NULL, 0);
+  uint8 buffer[6];
+  return writeCMD(CLRAUX, buffer, 0);
 }
 
 uint8 amsClearCells() {
-  return writeCMD(CLRCELL, NULL, 0);
+  uint8 buffer[6];
+  return writeCMD(CLRCELL, buffer, 0);
 }
 
 uint8 amsReadCellVoltages(Cell_Module* module) {

Core/Src/ADBMS_LL_Driver.c

@@ -6,6 +6,7 @@
  */
 
 #include "ADBMS_LL_Driver.h"
+#include <stdbool.h>
 
 #define INITIAL_COMMAND_PEC        0x0010
 #define INITIAL_DATA_PEC           0x0010 
@@ -31,7 +32,7 @@ uint8 calculateCommandPEC(uint8_t* data, uint8_t datalen) {
   if (datalen >= 3) {
     for (int i = 0; i < (datalen - 2); i++) {
       for (int n = 0; n < 8; n++) {
-          const uint8 din = data[i] << (n);
+        uint8 din = data[i] << (n);
         currentpec = updateCommandPEC(currentpec, din);
       }
     }
@@ -53,13 +54,13 @@ uint8 checkCommandPEC(uint8* data, uint8 datalen) {
 
   for (int i = 0; i < (datalen - 2); i++) {
     for (int n = 0; n < 8; n++) {
-        const uint8 din = data[i] << (n);
+      uint8 din = data[i] << (n);
       currentpec = updateCommandPEC(currentpec, din);
     }
   }
 
-  const uint8 pechigh = (currentpec >> 7) & 0xFF;
+  uint8 pechigh = (currentpec >> 7) & 0xFF;
-  const uint8 peclow = (currentpec << 1) & 0xFF;
+  uint8 peclow = (currentpec << 1) & 0xFF;
 
   if ((pechigh == data[datalen - 2]) && (peclow == data[datalen - 1])) {
     return 0;
@@ -70,13 +71,13 @@ uint8 checkCommandPEC(uint8* data, uint8 datalen) {
 
 uint16 updateCommandPEC(uint16 currentPEC, uint8 din) {
   din = (din >> 7) & 0x01;
-  const uint8 in0 = din ^ ((currentPEC >> 14) & 0x01);
+  uint8 in0 = din ^ ((currentPEC >> 14) & 0x01);
-  const uint8 in3 = in0 ^ ((currentPEC >> 2) & 0x01);
+  uint8 in3 = in0 ^ ((currentPEC >> 2) & 0x01);
-  const uint8 in4 = in0 ^ ((currentPEC >> 3) & 0x01);
+  uint8 in4 = in0 ^ ((currentPEC >> 3) & 0x01);
-  const uint8 in7 = in0 ^ ((currentPEC >> 6) & 0x01);
+  uint8 in7 = in0 ^ ((currentPEC >> 6) & 0x01);
-  const uint8 in8 = in0 ^ ((currentPEC >> 7) & 0x01);
+  uint8 in8 = in0 ^ ((currentPEC >> 7) & 0x01);
-  const uint8 in10 = in0 ^ ((currentPEC >> 9) & 0x01);
+  uint8 in10 = in0 ^ ((currentPEC >> 9) & 0x01);
-  const uint8 in14 = in0 ^ ((currentPEC >> 13) & 0x01);
+  uint8 in14 = in0 ^ ((currentPEC >> 13) & 0x01);
 
   uint16 newPEC = 0;
 
@@ -103,9 +104,9 @@ uint16 updateCommandPEC(uint16 currentPEC, uint8 din) {
 //CRC-10
 //x^10 + x^7 + x^3 + x^2 + x + 1
 
-uint16_t pec10_calc(bool rx_cmd, int len, const uint8_t* data) {
+uint16_t pec10_calc(bool rx_cmd, int len, uint8_t* data) {
-  uint16_t remainder = 16;       /* PEC_SEED;   0000010000 */
+  uint16_t remainder = 16; /* PEC_SEED;   0000010000 */
-  const uint16_t polynom = 0x8F; /* x10 + x7 + x3 + x2 + x + 1 <- the CRC15 polynomial
+  uint16_t polynom = 0x8F; /* x10 + x7 + x3 + x2 + x + 1 <- the CRC15 polynomial
                               100 1000 1111   48F */
 
   /* Perform modulo-2 division, a byte at a time. */
@@ -149,13 +150,16 @@ crc F_CRC_CalculaCheckSum(uint8_t const AF_Datos[], uint16_t VF_nBytes);
 uint8 calculateDataPEC(uint8_t* data, uint8_t datalen) {
 
   if (datalen >= 3) {
+    
 
-      const crc currentpec = pec10_calc(true, datalen - 2, data) & 0x3FF; // mask to 10 bits
+    crc currentpec = pec10_calc(true, datalen - 2, data) & 0x3FF; // mask to 10 bits
 
     // memory layout is [[zeroes], PEC[9:8]], [PEC[7:0]]
     data[datalen - 2] = (currentpec >> 8) & 0xFF;
     data[datalen - 1] = currentpec & 0xFF;
 
+    volatile uint8 result = pec10_calc(true, datalen, data);
+
     return 0;
   } else {
     return 1;
@@ -167,7 +171,7 @@ uint8 checkDataPEC(uint8* data, uint8 len) {
     return 255;
   }
 
-  const crc currentpec = F_CRC_CalculaCheckSum(data, len);
+  crc currentpec = F_CRC_CalculaCheckSum(data, len);
 
   return (currentpec == 0) ? 0 : 1;
 }
@@ -209,10 +213,10 @@ crc F_CRC_CalculaCheckSum(uint8_t const AF_Datos[], uint16_t VF_nBytes) {
 
 uint16 updateDataPEC(uint16 currentPEC, uint8 din) {
   din = (din >> 7) & 0x01;
-  const uint8 in0 = din ^ ((currentPEC >> 9) & 0x01);
+  uint8 in0 = din ^ ((currentPEC >> 9) & 0x01);
-  const uint8 in2 = in0 ^ ((currentPEC >> 1) & 0x01);
+  uint8 in2 = in0 ^ ((currentPEC >> 1) & 0x01);
-  const uint8 in3 = in0 ^ ((currentPEC >> 2) & 0x01);
+  uint8 in3 = in0 ^ ((currentPEC >> 2) & 0x01);
-  const uint8 in7 = in0 ^ ((currentPEC >> 6) & 0x01);
+  uint8 in7 = in0 ^ ((currentPEC >> 6) & 0x01);
 
   uint16 newPEC = 0;
 
@@ -229,7 +233,7 @@ uint16 updateDataPEC(uint16 currentPEC, uint8 din) {
   return newPEC;
 }
 
-uint8 writeCMD(uint16 command, const uint8 * args, uint8 arglen) {
+uint8 writeCMD(uint16 command, uint8* args, uint8 arglen) {
   uint8 ret;
   if (arglen > 0) {
     uint8 buffer[6 + arglen]; //command + PEC (2 bytes) + data + DPEC (2 bytes)
@@ -263,9 +267,23 @@ uint8 writeCMD(uint16 command, const uint8 * args, uint8 arglen) {
   return ret;
 }
 
-uint8 readCMD(uint16 command, uint8 * buffer, uint8 buflen) {
+#define ITER_COUNT 50
-  uint8 txbuffer[6 + buflen];
+static uint8_t count = 0;
-  uint8 rxbuffer[6 + buflen];
+static bool isOn = false;
+
+uint8 readCMD(uint16 command, uint8* buffer, uint8 buflen) {
+  if (count == ITER_COUNT) {
+    HAL_GPIO_WritePin(STATUS_LED_B_GPIO_Port, STATUS_LED_B_Pin, isOn ? GPIO_PIN_SET : GPIO_PIN_RESET);
+
+    count = 0;
+    isOn = !isOn;
+  } else {
+    count++;
+  }
+
+
+  uint8 txbuffer[6 + buflen] = {};
+  uint8 rxbuffer[6 + buflen] = {};
 
   txbuffer[0] = (command >> 8) & 0xFF;
   txbuffer[1] = (command)&0xFF;
@@ -318,22 +336,25 @@ void mcuAdbmsCSHigh() {
 }
 
 uint8 mcuSPITransmit(uint8* buffer, uint8 buffersize) {
-    uint8 rxbuf[buffersize];
+  HAL_StatusTypeDef status;
-    const HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(adbmsspi, buffer, rxbuf, buffersize,
+  uint8 rxbuf[buffersize];
-                                                             ADBMS_SPI_TIMEOUT);
+  status = HAL_SPI_TransmitReceive(adbmsspi, buffer, rxbuf, buffersize,
+                                   ADBMS_SPI_TIMEOUT);
   __HAL_SPI_CLEAR_OVRFLAG(adbmsspi);
   return status;
 }
 
 uint8 mcuSPIReceive(uint8* buffer, uint8 buffersize) {
-    const HAL_StatusTypeDef status = HAL_SPI_Receive(adbmsspi, buffer, buffersize, ADBMS_SPI_TIMEOUT);
+  HAL_StatusTypeDef status;
+  status = HAL_SPI_Receive(adbmsspi, buffer, buffersize, ADBMS_SPI_TIMEOUT);
   return status;
 }
 
 uint8 mcuSPITransmitReceive(uint8* rxbuffer, uint8* txbuffer,
                             uint8 buffersize) {
-    const HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(adbmsspi, txbuffer, rxbuffer, buffersize,
+  HAL_StatusTypeDef status;
-                                                             ADBMS_SPI_TIMEOUT);
+  status = HAL_SPI_TransmitReceive(adbmsspi, txbuffer, rxbuffer, buffersize,
+                                   ADBMS_SPI_TIMEOUT);
   return status;
 }
 

Core/Src/AMS_HighLevel.c

@@ -0,0 +1,313 @@
+/*
+ * AMS_HighLevel.c
+ *
+ *  Created on: 20.07.2022
+ *      Author: max
+ */
+
+#include "AMS_HighLevel.h"
+
+
+Cell_Module module = {};
+uint32_t balancedCells = 0;
+uint8_t BalancingActive = 0;
+uint8_t stateofcharge = 100;
+int64_t currentintegrator = 0;
+uint32_t lastticks = 0;
+uint32_t currenttick = 0;
+uint8_t eepromconfigured = 0;
+
+uint8_t internalbalancingalgo = 1;
+uint16_t startbalancingthreshold = 41000;
+uint16_t stopbalancingthreshold = 30000;
+uint16_t balancingvoltagedelta = 10;
+
+uint16_t amsuv = 0;
+uint16_t amsov = 0;
+
+uint8_t amserrorcode = 0;
+uint8_t amswarningcode = 0;
+
+uint8_t numberofCells = 14;
+uint8_t numberofAux = 0;
+
+uint8_t packetChecksumFails = 0;
+#define MAX_PACKET_CHECKSUM_FAILS 5
+
+uint8_t deviceSleeps = 0;
+#define MAX_DEVICE_SLEEP 3 //TODO: change to correct value
+
+amsState currentAMSState = AMSDEACTIVE;
+amsState lastAMSState = AMSDEACTIVE;
+
+struct pollingTimes {
+  uint32_t S_ADC_OW_CHECK;
+  uint32_t TMP1075;
+};
+
+struct pollingTimes pollingTimes = {0, 0};
+
+void AMS_Init(SPI_HandleTypeDef* hspi) {
+  if (eepromconfigured == 1) {
+    /*amsov = eepromcellovervoltage>>4;
+    amsuv = (eepromcellundervoltage-1)>>4;
+    numberofCells = eepromnumofcells;
+    numberofAux = eepromnumofaux;
+    initAMS(hspi, eepromnumofcells, eepromnumofaux);*/
+    amsConfigOverUnderVoltage(amsov, amsuv);
+  } else {
+    initAMS(hspi, numberofCells, numberofAux);
+    amsov = DEFAULT_OV;
+    amsuv = DEFAULT_UV;
+  }
+
+  pollingTimes = (struct pollingTimes) {HAL_GetTick(), HAL_GetTick()};
+
+  currentAMSState = AMSIDLE;
+}
+
+void AMS_Loop() {
+
+  // On Transition Functions called ones if the State Changed
+
+  if (currentAMSState != lastAMSState) {
+    switch (currentAMSState) {
+    case AMSIDLE:
+      break;
+    case AMSDEACTIVE:
+      break;
+    case AMSCHARGING:
+      break;
+    case AMSIDLEBALANCING:
+      break;
+    case AMSDISCHARGING:
+      break;
+    case AMSWARNING:
+      writeWarningLog(0x01);
+      break;
+    case AMSERROR:
+      writeErrorLog(amserrorcode);
+      break;
+    }
+    lastAMSState = currentAMSState;
+  }
+
+  // Main Loops for different AMS States
+
+  switch (currentAMSState) {
+  case AMSIDLE:
+    AMS_Idle_Loop();
+    break;
+  case AMSDEACTIVE:
+    break;
+  case AMSCHARGING:
+    break;
+  case AMSIDLEBALANCING:
+    AMS_Idle_Loop();
+    break;
+  case AMSDISCHARGING:
+    break;
+  case AMSWARNING:
+    AMS_Warning_Loop();
+    break;
+  case AMSERROR:
+    break;
+  }
+}
+
+uint8_t AMS_Idle_Loop() {
+  if (!amsWakeUp()) {
+    //error_data.data_kind = SEK_INTERNAL_BMS_TIMEOUT;
+    //set_error_source(ERROR_SOURCE_INTERNAL);
+  }
+  
+  packetChecksumFails += amsAuxAndStatusMeasurement(&module);
+
+  if (module.status.SLEEP) {
+    deviceSleeps++;
+    if (deviceSleeps > MAX_DEVICE_SLEEP) {
+      error_data.data_kind = SEK_INTERNAL_BMS_TIMEOUT;
+      set_error_source(ERROR_SOURCE_INTERNAL);
+    } else {
+      amsReset();
+    }
+  }
+
+  if (module.status.CS_FLT || module.status.SPIFLT || module.status.CMED ||
+      module.status.SMED || module.status.VDE || module.status.VDEL ||
+     module.status.OSCCHK || module.status.TMODCHK) {
+    error_data.data_kind = SEK_INTERNAL_BMS_FAULT;
+    set_error_source(ERROR_SOURCE_INTERNAL);
+  }
+
+  if (module.status.THSD) {
+    error_data.data_kind = SEK_INTERNAL_BMS_OVERTEMP;
+    set_error_source(ERROR_SOURCE_INTERNAL);
+  }
+
+  packetChecksumFails += amsCellMeasurement(&module);
+  packetChecksumFails += amsCheckUnderOverVoltage(&module);
+  packetChecksumFails += integrateCurrent();
+
+  if (packetChecksumFails > MAX_PACKET_CHECKSUM_FAILS) {
+    error_data.data_kind = SEK_INTERNAL_BMS_CHECKSUM_FAIL;
+    set_error_source(ERROR_SOURCE_INTERNAL);
+  }
+  
+  tmp1075_measure();
+
+  int any_voltage_error = 0;
+  for (size_t i = 0; i < numberofCells; i++) {
+    if (module.cellVoltages[i] < 2500) {
+      any_voltage_error = 1;
+      error_data.data_kind = SEK_UNDERVOLT;
+      error_data.data[0] = i;
+      uint8_t* ptr = &error_data.data[1];
+      ptr = ftcan_marshal_unsigned(ptr, module.cellVoltages[i], 2);
+    } else if (module.cellVoltages[i] > 4200) {
+      any_voltage_error = 1;
+      error_data.data_kind = SEK_OVERVOLT;
+      error_data.data[0] = i;
+      uint8_t* ptr = &error_data.data[1];
+      ptr = ftcan_marshal_unsigned(ptr, module.cellVoltages[i], 2);
+    }
+  }
+
+  if (module.internalDieTemp > 28000) { //TODO: change to correct value
+    error_data.data_kind = SEK_INTERNAL_BMS_OVERTEMP;
+    uint8_t* ptr = &error_data.data[0];
+    ptr = ftcan_marshal_unsigned(ptr, module.internalDieTemp, 2);
+
+    set_error_source(ERROR_SOURCE_INTERNAL);
+  } else {
+    clear_error_source(ERROR_SOURCE_INTERNAL);
+  }
+
+  if (any_voltage_error) {
+    set_error_source(ERROR_SOURCE_VOLTAGES);
+  } else {
+    clear_error_source(ERROR_SOURCE_VOLTAGES);
+  }
+
+  mcuDelay(10);
+  return 0;
+}
+
+uint8_t AMS_Warning_Loop() {
+
+  amsWakeUp();
+  amsConfigOverUnderVoltage(amsov, amsuv);
+  amsClearAux();
+  amsCellMeasurement(&module);
+  amsAuxAndStatusMeasurement(&module);
+  amsCheckUnderOverVoltage(&module);
+
+  if (!(module.overVoltage | module.underVoltage)) {
+    currentAMSState = AMSIDLE;
+    // amsClearWarning();
+  }
+  amsStopBalancing();
+
+  return 0;
+}
+
+uint8_t AMS_Error_Loop() { return 0; }
+
+uint8_t AMS_Charging_Loop() { return 0; }
+
+uint8_t AMS_Discharging_Loop() { return 0; }
+
+uint8_t AMS_Balancing_Loop() {
+  uint8_t balancingdone = 1;
+  if ((eepromconfigured == 1) && (internalbalancingalgo == 1) &&
+      (module.internalDieTemp <
+       28000 /*Thermal Protection 93°C*/)) // If the EEPROM is configured and
+                                           // the internal Balancing Algorithm
+                                           // should be used
+  {
+    uint16_t highestcellvoltage = module.cellVoltages[0];
+    uint16_t lowestcellvoltage = module.cellVoltages[0];
+    uint8_t highestcell = 0;
+    uint8_t lowestcell = 0;
+
+    for (uint8_t n = 0; n < numberofCells; n++) {
+      if (module.cellVoltages[n] > highestcellvoltage) {
+        highestcellvoltage = module.cellVoltages[n];
+        highestcell = n;
+      }
+      if (module.cellVoltages[n] < lowestcellvoltage) {
+        lowestcellvoltage = module.cellVoltages[n];
+        lowestcell = n;
+      }
+    }
+
+    if (currentAMSState ==
+        AMSCHARGING) // Balancing is only Active if the BMS is in Charging Mode
+    {
+
+      uint32_t channelstobalance = 0;
+
+      if (highestcellvoltage > startbalancingthreshold) {
+        for (uint8_t n = 0; n < numberofCells; n++) {
+          if (module.cellVoltages[n] > stopbalancingthreshold) {
+            uint16_t dv = module.cellVoltages[n] - lowestcellvoltage;
+            if (dv > (balancingvoltagedelta * 1000)) {
+              balancingdone = 0;
+              channelstobalance |= 1 << n;
+            }
+          }
+        }
+      }
+
+      amsConfigBalancing(channelstobalance, 0x0F);
+      amsStartBalancing(100);
+    }
+
+    else if (currentAMSState == AMSIDLEBALANCING) {
+
+      uint32_t channelstobalance = 0;
+
+      if (lowestcellvoltage <
+          stopbalancingthreshold) // If under Voltage of one Cell is reached
+      {
+        amsStopBalancing();
+        balancingdone = 1;
+      } else // otherwise continue with regular Balancing Algorithm
+      {
+        for (uint8_t n = 0; n < numberofCells; n++) {
+          uint16_t dv = module.cellVoltages[n] - lowestcellvoltage;
+          if (dv > balancingvoltagedelta) {
+            balancingdone = 0;
+            channelstobalance |= 1 << n;
+          }
+        }
+
+        amsConfigBalancing(channelstobalance, 0x0F);
+        amsStartBalancing(100);
+      }
+    }
+  } else {
+    amsStopBalancing();
+    balancingdone = 1;
+  }
+  return balancingdone;
+}
+
+uint8_t writeWarningLog(uint8_t warningCode) {
+  // eepromWriteWarningLog(warningCode);
+  return 0;
+}
+uint8_t writeErrorLog(uint8_t errorCode) {
+  // eepromWriteErrorLog(errorCode);
+  return 0;
+}
+
+uint8_t integrateCurrent() {
+  lastticks = currenttick;
+  currenttick = HAL_GetTick();
+  if (currenttick < lastticks) {
+    currentintegrator += (module.auxVoltages[0] - module.auxVoltages[2]) *
+                         (currenttick - lastticks);
+  }
+  return 0;
+}

Core/Src/PWM_control.c

@@ -0,0 +1,63 @@
+#include "PWM_control.h"
+#include "stm32f3xx_hal.h"
+#include <stdint.h>
+
+uint8_t battery_cooling_status;
+//uint32_t powerground1_CCR, powerground2_CCR, battery_cooling_CCR;
+
+TIM_HandleTypeDef* powerground, *battery_cooling;
+
+/*
+  Pulse width modulation mode allows for generating a signal with a frequency determined by 
+  the value of the TIMx_ARR register and a duty cycle determined by the value of the TIMx_CCRx register. 
+*/
+
+void PWM_control_init(TIM_HandleTypeDef* pg, TIM_HandleTypeDef* bat_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
+
+  __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, 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){}

Core/Src/TMP1075.c

@@ -1,13 +1,8 @@
 #include "TMP1075.h"
-#include "state_machine.h"
 
-#define MAX_TEMP_DISCHARGING    ((int16_t)(59 / 0.0625f))
+#define MAX_TEMP        ((int16_t)(59 / 0.0625f))
-#define MIN_TEMP_DISCHARGING    ((int16_t)(-20 / 0.0625f))
+#define MAX_FAILED_TEMP 12 //TODO: change value for compliance with the actual number of sensors
-#define MAX_TEMP_CHARGING       ((int16_t)(45 / 0.0625f))
+#warning "change value for compliance with the actual number of sensors"
-#define MIN_TEMP_CHARGING       ((int16_t)(0 / 0.0625f))
-
-#define MAX_FAILED_TEMP 2 //TODO: change value for compliance with the actual number of sensors
-// TODO: "change value for compliance with the actual number of sensors", change temps to float
 
 int16_t tmp1075_temps[N_TEMP_SENSORS] = {0};
 uint32_t tmp1075_failed_sensors = 0;
@@ -38,36 +33,19 @@ HAL_StatusTypeDef tmp1075_measure() {
   int err = 0;
   int temp_error = 0;
   for (int i = 0; i < N_TEMP_SENSORS; i++) {
-    if (tmp1075_sensor_read(i, &tmp1075_temps[i]) != HAL_OK || (tmp1075_temps[i] & 0x000F) != 0) {
+    if (tmp1075_sensor_read(i, &tmp1075_temps[i]) != HAL_OK ||
+        (tmp1075_temps[i] & 0x000F) != 0) {
       tmp1075_failed_sensors |= 1 << i;
       nfailed_temp_sensors++;
       err = 1;
     } else {
       tmp1075_temps[i] >>= 4;
       tmp1075_failed_sensors &= ~(1 << i);
-      if (state.current_state == STATE_CHARGING || state.current_state == STATE_CHARGING_PRECHARGE){
+      if (tmp1075_temps[i] >= MAX_TEMP) {
-        if (tmp1075_temps[i] >= MAX_TEMP_CHARGING) {
+        temp_error = 1;
-          temp_error = 1;
+        handle_over_maxtemp(i, tmp1075_temps[i]);
-          handle_over_maxtemp(i, tmp1075_temps[i]);
-        }
-      } else {
-        if (tmp1075_temps[i] >= MAX_TEMP_DISCHARGING) {
-          temp_error = 1;
-          handle_over_maxtemp(i, tmp1075_temps[i]);
-        }
-      }
-
-      if (state.current_state == STATE_CHARGING || state.current_state == STATE_CHARGING_PRECHARGE){
-        if (tmp1075_temps[i] <= MIN_TEMP_CHARGING) {
-          temp_error = 1;
-          handle_over_maxtemp(i, tmp1075_temps[i]);
-        }
-      } else {
-        if (tmp1075_temps[i] <= MIN_TEMP_DISCHARGING) {
-          temp_error = 1;
-          handle_over_maxtemp(i, tmp1075_temps[i]);
-        }
       }
+      #warning "check for under temp"
     }
   }
   if (nfailed_temp_sensors > MAX_FAILED_TEMP) {

Core/Src/can.c

@@ -0,0 +1,150 @@
+/*
+ *          can.c
+ *  Created on: Mai 23, 2024
+ *      Author: Hamza
+ */
+
+#include "can.h"
+
+//#define CAN_ID_IN   0x501
+//#define CAN_ID_OUT  0x502
+int can_delay_manager = 0;
+void can_init(CAN_HandleTypeDef* hcan) { 
+  ftcan_init(hcan); 
+  ftcan_add_filter(CAN_ID_IN, 0xFFF);
+}
+
+/*
+This function sends the status of the mvbms, the battery and of powerground.
+once every 1s in states: INACTIVE, PRECHARGE, DISCHARGE, CHARGING, ERROR.
+once every 0.5s in states: READY, ACTIVE.
+with format of:
+CAN Messages:
+  Error bit
+  MVBMS state
+  Powerground Status 0-100%
+  Errors
+  Battery state of charge 
+  Pack Voltage
+  Current
+  Battery temperature (12 bit) 
+
+  Min/Max. Cell Temp (ID, Min Temp, ID, Max Temp)(3B), 
+  Min/Max Cell Voltage (ID, Min Voltage, ID, Max Voltage)(3B)
+
+bit 0     (1b):   empty
+bit 1-3   (3b):   state
+bit 4-11  (8b):   powerground status
+bit 12-19 (8b):   error
+bit 20-27 (8b):   state of charge from 0-100%
+bit 28-39 (12b):  battery voltage
+bit 40-51 (12b):  current measurement
+bit 52-63 (12b):  temperature of the cell with highest temperature
+
+
+bit 0-3   (4b):   ID of the sensor with highest temperature
+bit 4-7   (4b):   ID of the sensor with lowest temperataure
+bit 8-19  (12b):  temperature of the coldest cell
+bit 20-23 (4b):   ID of the cell with the lowest voltage
+bit 24-35 (12b):  lowest cell voltage
+bit 36-39 (4b):   ID of the cell the the highest voltage
+bit 40-51 (12b):  highest cell voltage
+bit 52-63 (12b):  empty
+*/
+
+void can_handle_send_status() {
+  if (can_delay_manager > HAL_GetTick())
+    return;
+  else
+    can_delay_manager = HAL_GetTick() + CAN_STATUS_FREQ;
+  
+  uint8_t data[8] = {};
+  int8_t id_highest_temp = -1;
+  int16_t highest_temp = INT16_MIN;
+  sm_check_battery_temperature(&id_highest_temp, &highest_temp);
+
+  data[0] = ((state.current_state << 4) | (powerground_status >> 4));               // 1 bit emptyy | 3 bit state | 4 bit powerground 
+  data[1] = ((powerground_status << 4) | (state.error_source >> 4));              // 4 bit powerground | 4 bit error 
+  data[2] = ((state.error_source << 4) | (0));                                      // 4 bit error | 4 bit state of charge
+  data[3] = ((0) + (RELAY_BAT_SIDE_VOLTAGE >> 12));                                // 4 bit state of charge | 4 bit battery voltage
+  data[4] = ((RELAY_BAT_SIDE_VOLTAGE >> 4));
+  data[5] = ((CURRENT_MEASUREMENT >> 8));
+  data[6] = ((CURRENT_MEASUREMENT & 0x00F0) | (highest_temp >> 12));
+  data[7] = ((highest_temp) >> 4);
+  
+  ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
+
+  int8_t id_lowest_temp = -1;
+  int16_t lowest_temp = INT16_MIN;
+  for (int i = 0; i < N_TEMP_SENSORS; i++) {
+    if (tmp1075_temps[i] < lowest_temp){
+      id_lowest_temp = i;
+      lowest_temp = tmp1075_temps[i];
+    }
+  }
+
+  int8_t id_lowest_volt = -1;
+  int16_t lowest_volt = INT16_MIN;
+  int8_t id_highest_volt = -1;
+  int16_t highest_volt = INT16_MIN;
+
+  for (int i = 0; i < module.sumOfCellMeasurements; i++) {
+    if (sm_return_cell_voltage(i) < lowest_temp){
+      id_lowest_volt = i;
+      lowest_volt = sm_return_cell_voltage(i);
+    }
+    if (sm_return_cell_voltage(i) > highest_temp){
+      id_highest_volt = i;
+      highest_volt = sm_return_cell_voltage(i);
+    }
+  }
+
+  data[0] = ((id_highest_temp & 0x0F) << 4 | (id_lowest_temp & 0x0F));
+  data[1] = ((lowest_temp) >> 8);
+  data[2] = ((lowest_temp & 0x00F0) | (id_lowest_volt & 0x0F));
+  data[3] = (lowest_volt >> 8);
+  data[4] = ((lowest_volt & 0x00F0) | (id_highest_volt & 0x0F));
+  data[5] = ((highest_volt >> 8));
+  data[6] = ((highest_volt & 0x00F0));
+  data[7] = 0;
+  
+  ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
+}
+
+/*
+can_handle_recieve_command() should only check if the message is valid and then hand it
+to the sm_handle_ams_in() which handles the state machine transition.
+
+This function recieves a command from the Autobox with the CAN ID of 0x501.
+with format of:
+data[0] = target state 
+  0x0 STATE_INACTIVE  | disconnect power to the ESC of powerground. Send it to return the mvbms to idle/monitoring mode.  If data[1] != 0 -> assume bad CAN message.
+  0x1 STATE_READY     | conneect power to the ESC of powerground and but with no PWM signal.                              If data[1] != 0 -> assume bad CAN message.
+  0x2 STATE_ACTIVE    | activate powerground at (data[1]) percent.                                                        If data[1] > 100 -> assume bad CAN message.            
+
+allowed transitions:
+  STATE_INACTIVE  ->  STATE_READY
+  STATE_READY     ->  STATE_INACTIVE, STATE_ACTIVE
+  STATE_ACTIVE    ->  STATE_INACTIVE, STATE_READY
+*/
+void can_handle_recieve_command(const uint8_t *data){
+  if (data[0] == 0x00 && data[1] == 0x00){
+    sm_handle_ams_in(data);
+  } else if (data[0] == 0x01 && data[1] == 0x00){
+    sm_handle_ams_in(data);
+  } else if (data[0] == 0x02 && data[1] <= 100) { 
+    sm_handle_ams_in(data);
+  }
+}
+
+/*
+implements the _weak method ftcan_msg_recieved_cb() which throws an interrupt when a CAN message is recieved.
+it only checks if the id is and datalen is correct thans hands data over to can_handle_recieve_command().
+
+in MXCUBE under CAN NVIC settings "USB low priority or CAN_RX0 interrupts" has to be on 
+*/
+void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data){
+  if (id == 0x501 && datalen == 2){
+    can_handle_recieve_command(data);
+  }
+}

Core/Src/errors.c

@@ -0,0 +1,13 @@
+#include "errors.h"
+#include "stm32f3xx_hal.h"
+
+SlaveErrorData error_data;
+
+void set_error_source(int source) {
+  if (!error_data.error_sources) {
+    error_data.errors_since = HAL_GetTick();
+  }
+  error_data.error_sources |= source;
+}
+
+void clear_error_source(int source) { error_data.error_sources &= ~source; }

Core/Src/main.c

@@ -26,10 +26,7 @@
 #include "PWM_control.h"
 #include "can.h"
 #include "AMS_HighLevel.h"
-#include "soc_estimation.h"
 #include "state_machine.h"
-#include <status_LED.h>
-#include <stdint.h>
 #include "TMP1075.h"
 #include "errors.h"
 #include "stm32f302xc.h"
@@ -50,26 +47,20 @@
 /* Private macro -------------------------------------------------------------*/
 /* USER CODE BEGIN PM */
 
-// htim2 CH3,4 BAT_COOLING_PWM,ENABLE
-// htim3 CH3,4 ESC_L_PWM,R_PWM
-// htim4 CH1,2,3 LED R,G,B
-// htim15 CH1,2 ESC_COOLING_ENABLE,PWM
-
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
 CAN_HandleTypeDef hcan;
 
 I2C_HandleTypeDef hi2c1;
-I2C_HandleTypeDef hi2c2;
 
 SPI_HandleTypeDef hspi1;
 
-TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim1;
-TIM_HandleTypeDef htim3;
-TIM_HandleTypeDef htim4;
 TIM_HandleTypeDef htim15;
 
+UART_HandleTypeDef huart1;
+
 /* USER CODE BEGIN PV */
 
 /* USER CODE END PV */
@@ -81,10 +72,8 @@ static void MX_CAN_Init(void);
 static void MX_I2C1_Init(void);
 static void MX_SPI1_Init(void);
 static void MX_TIM15_Init(void);
-static void MX_I2C2_Init(void);
+static void MX_USART1_UART_Init(void);
-static void MX_TIM2_Init(void);
+static void MX_TIM1_Init(void);
-static void MX_TIM3_Init(void);
-static void MX_TIM4_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -127,23 +116,15 @@ int main(void)
   MX_I2C1_Init();
   MX_SPI1_Init();
   MX_TIM15_Init();
-  MX_I2C2_Init();
+  MX_USART1_UART_Init();
-  MX_TIM2_Init();
+  MX_TIM1_Init();
-  MX_TIM3_Init();
-  MX_TIM4_Init();
   /* USER CODE BEGIN 2 */
   sm_init();
   tmp1075_init(&hi2c1);
   AMS_Init(&hspi1);
   can_init(&hcan);
-  PWM_control_init(&htim3, &htim2, &htim15);
+  PWM_control_init(&htim15, &htim1);
-  soc_init();
+  HAL_Delay(10);
-  status_led_init(&htim4, &htim4, &htim4);
-  sm_program_powerground();
-  eeprom_init(&hi2c2);
-  AMS_Loop();
-  uint32_t startup_timer = 500 + HAL_GetTick();
-  while (startup_timer > HAL_GetTick());
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -156,6 +137,7 @@ int main(void)
     AMS_Loop();
     sm_update();
     //sm_test_cycle_states();
+    can_handle_send_status();
   }
   /* USER CODE END 3 */
 }
@@ -173,9 +155,10 @@ void SystemClock_Config(void)
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSE;
   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
   {
@@ -195,9 +178,11 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1|RCC_PERIPHCLK_I2C2;
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_I2C1
-  PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_SYSCLK;
+                              |RCC_PERIPHCLK_TIM1;
-  PeriphClkInit.I2c2ClockSelection = RCC_I2C2CLKSOURCE_SYSCLK;
+  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+  PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_HSI;
+  PeriphClkInit.Tim1ClockSelection = RCC_TIM1CLK_HCLK;
   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
   {
     Error_Handler();
@@ -257,7 +242,7 @@ static void MX_I2C1_Init(void)
 
   /* USER CODE END I2C1_Init 1 */
   hi2c1.Instance = I2C1;
-  hi2c1.Init.Timing = 0x00303D5B;
+  hi2c1.Init.Timing = 0x2000090E;
   hi2c1.Init.OwnAddress1 = 0;
   hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -289,54 +274,6 @@ static void MX_I2C1_Init(void)
 
 }
 
-/**
-  * @brief I2C2 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_I2C2_Init(void)
-{
-
-  /* USER CODE BEGIN I2C2_Init 0 */
-
-  /* USER CODE END I2C2_Init 0 */
-
-  /* USER CODE BEGIN I2C2_Init 1 */
-
-  /* USER CODE END I2C2_Init 1 */
-  hi2c2.Instance = I2C2;
-  hi2c2.Init.Timing = 0x00303D5B;
-  hi2c2.Init.OwnAddress1 = 0;
-  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-  hi2c2.Init.OwnAddress2 = 0;
-  hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
-  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
-  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
-  if (HAL_I2C_Init(&hi2c2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Analogue filter
-  */
-  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Digital filter
-  */
-  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN I2C2_Init 2 */
-
-  /* USER CODE END I2C2_Init 2 */
-
-}
-
 /**
   * @brief SPI1 Initialization Function
   * @param None
@@ -378,165 +315,72 @@ static void MX_SPI1_Init(void)
 }
 
 /**
-  * @brief TIM2 Initialization Function
+  * @brief TIM1 Initialization Function
   * @param None
   * @retval None
   */
-static void MX_TIM2_Init(void)
+static void MX_TIM1_Init(void)
 {
 
-  /* USER CODE BEGIN TIM2_Init 0 */
+  /* USER CODE BEGIN TIM1_Init 0 */
 
-  /* USER CODE END TIM2_Init 0 */
+  /* USER CODE END TIM1_Init 0 */
 
   TIM_MasterConfigTypeDef sMasterConfig = {0};
   TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
 
-  /* USER CODE BEGIN TIM2_Init 1 */
+  /* USER CODE BEGIN TIM1_Init 1 */
 
-  /* USER CODE END TIM2_Init 1 */
+  /* USER CODE END TIM1_Init 1 */
-  htim2.Instance = TIM2;
+  htim1.Instance = TIM1;
-  htim2.Init.Prescaler = 0;
+  htim1.Init.Prescaler = 0;
-  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 4294967295;
+  htim1.Init.Period = 65535;
-  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  htim1.Init.RepetitionCounter = 0;
-  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
   {
     Error_Handler();
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
   {
     Error_Handler();
   }
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
   sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.BreakFilter = 0;
+  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
+  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
+  sBreakDeadTimeConfig.Break2Filter = 0;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
   {
     Error_Handler();
   }
-  /* USER CODE BEGIN TIM2_Init 2 */
+  /* USER CODE BEGIN TIM1_Init 2 */
 
-  /* USER CODE END TIM2_Init 2 */
+  /* USER CODE END TIM1_Init 2 */
-  HAL_TIM_MspPostInit(&htim2);
+  HAL_TIM_MspPostInit(&htim1);
-
-}
-
-/**
-  * @brief TIM3 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM3_Init(void)
-{
-
-  /* USER CODE BEGIN TIM3_Init 0 */
-
-  /* USER CODE END TIM3_Init 0 */
-
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-
-  /* USER CODE BEGIN TIM3_Init 1 */
-
-  /* USER CODE END TIM3_Init 1 */
-  htim3.Instance = TIM3;
-  htim3.Init.Prescaler = 7;
-  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 39999;
-  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM3_Init 2 */
-
-  /* USER CODE END TIM3_Init 2 */
-  HAL_TIM_MspPostInit(&htim3);
-
-}
-
-/**
-  * @brief TIM4 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM4_Init(void)
-{
-
-  /* USER CODE BEGIN TIM4_Init 0 */
-
-  /* USER CODE END TIM4_Init 0 */
-
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-
-  /* USER CODE BEGIN TIM4_Init 1 */
-
-  /* USER CODE END TIM4_Init 1 */
-  htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 624;
-  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 255;
-  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM4_Init 2 */
-
-  /* USER CODE END TIM4_Init 2 */
-  HAL_TIM_MspPostInit(&htim4);
 
 }
 
@@ -560,9 +404,9 @@ static void MX_TIM15_Init(void)
 
   /* USER CODE END TIM15_Init 1 */
   htim15.Instance = TIM15;
-  htim15.Init.Prescaler = 0;
+  htim15.Init.Prescaler = 7;
   htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim15.Init.Period = 65535;
+  htim15.Init.Period = 39999;
   htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim15.Init.RepetitionCounter = 0;
   htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
@@ -610,6 +454,41 @@ static void MX_TIM15_Init(void)
 
 }
 
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+
+  /* USER CODE END USART1_Init 0 */
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 38400;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
 /**
   * @brief GPIO Initialization Function
   * @param None
@@ -628,10 +507,13 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOB_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOA, CSB_Pin|EEPROM___WC__Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOA, RELAY_EN_Pin|_60V_EN_Pin|CSB_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, RELAY_ENABLE_Pin|PRECHARGE_ENABLE_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOB, STATUS_LED_R_Pin|STATUS_LED_B_Pin|STATUS_LED_G_Pin, GPIO_PIN_SET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(PRECHARGE_EN_GPIO_Port, PRECHARGE_EN_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : PC13 PC14 PC15 */
   GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
@@ -639,32 +521,34 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PA0 PA1 PA2 PA3 */
+  /*Configure GPIO pins : RELAY_EN_Pin _60V_EN_Pin CSB_Pin */
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
+  GPIO_InitStruct.Pin = RELAY_EN_Pin|_60V_EN_Pin|CSB_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : CSB_Pin EEPROM___WC__Pin */
-  GPIO_InitStruct.Pin = CSB_Pin|EEPROM___WC__Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PB2 PB12 PB13 */
+  /*Configure GPIO pins : STATUS_LED_R_Pin STATUS_LED_B_Pin STATUS_LED_G_Pin PRECHARGE_EN_Pin */
-  GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_12|GPIO_PIN_13;
+  GPIO_InitStruct.Pin = STATUS_LED_R_Pin|STATUS_LED_B_Pin|STATUS_LED_G_Pin|PRECHARGE_EN_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : RELAY_ENABLE_Pin PRECHARGE_ENABLE_Pin */
-  GPIO_InitStruct.Pin = RELAY_ENABLE_Pin|PRECHARGE_ENABLE_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+  /*Configure GPIO pins : PB10 PB12 PB13 PB14
+                           PB4 PB5 PB8 */
+  GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14
+                          |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_8;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : RELAY_BATT_SIDE_ON_Pin RELAY_ESC_SIDE_ON_Pin CURRENT_SENSOR_ON_Pin */
+  GPIO_InitStruct.Pin = RELAY_BATT_SIDE_ON_Pin|RELAY_ESC_SIDE_ON_Pin|CURRENT_SENSOR_ON_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
 /* USER CODE BEGIN MX_GPIO_Init_2 */
 /* USER CODE END MX_GPIO_Init_2 */
 }

Core/Src/state_machine.c

@@ -0,0 +1,325 @@
+#include "state_machine.h"
+#include "AMS_HighLevel.h"
+#include "TMP1075.h"
+#include "errors.h"
+#include "stm32f3xx_hal.h"
+#include <stdint.h>
+#include <stdio.h>
+
+StateHandle state;
+int16_t RELAY_BAT_SIDE_VOLTAGE;
+int16_t RELAY_ESC_SIDE_VOLTAGE;
+int16_t CURRENT_MEASUREMENT;
+uint8_t powerground_status;
+
+uint32_t timestamp;
+
+void sm_init(){
+  state.current_state = STATE_INACTIVE;
+  state.target_state = STATE_INACTIVE;
+  state.error_source = 0;
+}
+
+void sm_update(){
+  sm_check_errors();
+
+  RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[0] * 12.42;     // the calculation says the factor is 11.989. 12.42 yields the better result
+  RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[1] * 12.42;
+  CURRENT_MEASUREMENT = (module.auxVoltages[2] - 2496) * 300;
+  
+  switch (state.current_state) {
+    case STATE_INACTIVE:
+      state.current_state = sm_update_inactive();             // monitor only
+      break;
+    case STATE_PRECHARGE:
+      state.current_state = sm_update_precharge();            // set PRECHARGE and turn on cooling at 50% or such
+      break;
+    case STATE_READY:
+      state.current_state = sm_update_ready();                // keep cooling at 50%, get ready to turn on powerground
+      break;
+    case STATE_ACTIVE:
+      state.current_state = sm_update_active();               // set PRECHARGE and turn on cooling at 50% or such
+      break;
+    case STATE_DISCHARGE:
+      state.current_state = sm_update_discharge();            // open the main relay, keep PRECHARGE closed
+      break;
+    case STATE_CHARGING_PRECHARGE:
+      state.current_state = sm_update_charging_precharge();   
+      break;
+    case STATE_CHARGING:
+      state.current_state = sm_update_charging();             // monitor and turn on cooling if needed. 
+      break;
+    case STATE_ERROR:
+      state.current_state = sm_update_error();                // enter the correct ERROR state 
+      break;
+  }
+
+  sm_set_relay_positions(state.current_state);
+  state.target_state = state.current_state;
+}
+
+State sm_update_inactive(){
+  switch (state.target_state) {
+    case STATE_PRECHARGE:
+      return STATE_PRECHARGE;
+    case STATE_CHARGING_PRECHARGE:
+      return STATE_CHARGING_PRECHARGE;
+    default: 
+      return STATE_INACTIVE;
+  }
+}
+
+State sm_update_precharge(){
+  switch (state.target_state) {
+    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){
+        PWM_set_throttle();
+        return STATE_READY;
+      }
+      break;
+    case STATE_DISCHARGE:
+      return STATE_DISCHARGE;
+    default:
+      return STATE_PRECHARGE;
+  }
+}
+
+State sm_update_ready(){
+  switch (state.target_state) {
+    case STATE_ACTIVE:            // if CAN Signal 1100 0000 then turn on powerground
+      return STATE_ACTIVE;
+    case STATE_DISCHARGE:         // if CAN Signal 0000 0000 then shutdown
+      return STATE_DISCHARGE;
+    default:
+      return STATE_READY;
+  }
+}
+
+State sm_update_active(){
+  switch (state.target_state) {
+    case STATE_READY:            // if CAN Signal 1000 0000 then turn oof powerground but stay ready
+      return STATE_READY;       
+    case STATE_DISCHARGE:        // if CAN Signal 0000 0000 then shutdown
+      return STATE_DISCHARGE;
+    default:
+      return STATE_ACTIVE;
+  }
+}
+
+State sm_update_discharge(){
+  switch (state.target_state) {
+    case STATE_DISCHARGE:
+      if (RELAY_ESC_SIDE_VOLTAGE < 5000)
+        return STATE_INACTIVE;
+    case STATE_PRECHARGE:       // if CAN Signal 1000 0000 then get ready
+      return STATE_PRECHARGE;
+    default: 
+      return STATE_DISCHARGE;
+  }
+}
+
+State sm_update_charging_precharge(){
+  switch (state.target_state) {
+    case STATE_CHARGING:
+      return STATE_CHARGING;
+    case STATE_DISCHARGE:
+      return STATE_DISCHARGE;
+    default:
+      return STATE_CHARGING_PRECHARGE;
+  }
+}
+
+State sm_update_charging(){
+  switch (state.target_state) {
+    case STATE_DISCHARGE:
+      return STATE_DISCHARGE;
+    default:
+      return STATE_CHARGING;
+  }
+}
+
+
+State sm_update_error(){
+  switch (state.target_state) {
+    case STATE_DISCHARGE:
+      return STATE_DISCHARGE;
+    default:
+      return STATE_ERROR;
+  }
+}
+
+void sm_set_relay_positions(State current_state){
+  switch (state.current_state) {
+    case STATE_INACTIVE:
+      sm_set_relay(RELAY_MAIN, 0);
+      sm_set_relay(RELAY_PRECHARGE, 0);
+      break;
+    case STATE_PRECHARGE:
+      sm_set_relay(RELAY_MAIN, 0);
+      sm_set_relay(RELAY_PRECHARGE, 1);
+      break;
+    case STATE_READY:
+      sm_set_relay(RELAY_MAIN, 1);
+      sm_set_relay(RELAY_PRECHARGE, 0);
+      break;
+    case STATE_ACTIVE:
+      sm_set_relay(RELAY_MAIN, 1);
+      sm_set_relay(RELAY_PRECHARGE, 0);
+      break;
+    case STATE_DISCHARGE:
+      sm_set_relay(RELAY_MAIN, 0);
+      sm_set_relay(RELAY_PRECHARGE, 0);
+      break;
+    case STATE_CHARGING_PRECHARGE:
+      sm_set_relay(RELAY_MAIN, 0);
+      sm_set_relay(RELAY_PRECHARGE, 1);
+      break;
+    case STATE_CHARGING:
+      sm_set_relay(RELAY_MAIN, 1);
+      sm_set_relay(RELAY_PRECHARGE, 0);
+      break;
+    case STATE_ERROR:
+      sm_set_relay(RELAY_MAIN, 0);
+      sm_set_relay(RELAY_PRECHARGE, 0);
+      break;
+  }
+}
+
+void sm_set_relay(Relay relay, bool closed){
+  GPIO_PinState state = closed ? GPIO_PIN_SET : GPIO_PIN_RESET;
+  switch (relay) {
+    case RELAY_MAIN:
+      HAL_GPIO_WritePin(RELAY_EN_GPIO_Port, RELAY_EN_Pin, state);
+      relay_closed = closed;
+      break;
+    case RELAY_PRECHARGE:
+      HAL_GPIO_WritePin(PRECHARGE_EN_GPIO_Port, PRECHARGE_EN_Pin, state);
+      precharge_closed = closed;
+      break;
+  }
+}
+
+void sm_check_charging(){
+  if (RELAY_BAT_SIDE_VOLTAGE < RELAY_ESC_SIDE_VOLTAGE && timestamp == 0)  
+    timestamp = HAL_GetTick() + 5000;
+  if (timestamp < HAL_GetTick())
+    state.target_state = STATE_CHARGING_PRECHARGE;
+}
+
+/* returns the ID and temperature of the hottest cell */
+void sm_check_battery_temperature(int8_t *id, int16_t *temp){
+  for (int i = 0; i < N_TEMP_SENSORS; i++) {
+    if (tmp1075_temps[i] > *temp){
+      *id = i;
+      *temp = tmp1075_temps[i];
+    }
+  }
+}
+
+int16_t sm_return_cell_temperature(int id){
+  return tmp1075_temps[id];
+}
+
+int16_t sm_return_cell_voltage(int id){
+  return module.cellVoltages[id];
+}
+
+void sm_handle_ams_in(const uint8_t *data){  
+  switch (data[0]) {
+    case 0x00:
+      if (state.current_state != STATE_INACTIVE){
+        state.target_state = STATE_DISCHARGE;
+      }
+      break;
+    case 0x01:
+      if (state.target_state == STATE_INACTIVE || state.target_state == STATE_DISCHARGE){
+        state.target_state = STATE_PRECHARGE;
+      } else if (state.target_state == STATE_ACTIVE){
+        state.target_state = STATE_READY;
+      }
+      break;
+    case 0x02:
+      if (state.current_state == STATE_READY || state.current_state == STATE_ACTIVE){
+        PWM_powerground_control(data[1]);
+        state.target_state = STATE_ACTIVE;        // READY -> ACTIVE
+      }
+      break;
+  }
+}
+
+void sm_set_error(ErrorKind error_kind, bool is_errored){}
+
+#warning TODO: add error checking for everything here
+void sm_check_errors(){
+  switch (error_data.data_kind) {
+    case SEK_OVERTEMP:
+    case SEK_UNDERTEMP:
+    case SEK_TOO_FEW_TEMPS:
+      state.error_type.temperature_error = 1;
+    case SEK_OVERVOLT:
+    case SEK_UNDERVOLT:
+    case SEK_OPENWIRE:
+    case SEK_EEPROM_ERR:
+    case SEK_INTERNAL_BMS_TIMEOUT:
+      state.error_type.bms_timeout = 1;
+    case SEK_INTERNAL_BMS_CHECKSUM_FAIL:
+    case SEK_INTERNAL_BMS_OVERTEMP:
+    case SEK_INTERNAL_BMS_FAULT:
+      state.error_type.bms_fault = 1;
+      break;
+  }
+
+  if (1){
+    state.error_type.current_error = 1;
+  }
+
+  if (1){
+    state.error_type.current_sensor_missing = 1;
+  }
+
+  if (RELAY_BAT_SIDE_VOLTAGE < 30000){
+    state.error_type.voltage_error = 1;
+  }
+
+  if (1){
+    state.error_type.voltage_missing = 1;
+  }
+}  
+
+void sm_test_cycle_states(){
+  RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[0];
+  RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[1];
+  CURRENT_MEASUREMENT = module.auxVoltages[2];
+  sm_set_relay_positions(state.current_state);
+  
+  if (timestamp > HAL_GetTick())
+    return;
+  switch (state.current_state) {
+    case STATE_INACTIVE:
+      state.current_state = STATE_PRECHARGE;
+      timestamp = HAL_GetTick() + 30000;
+      PWM_powerground_control(0);
+      break;
+    case STATE_PRECHARGE:
+      state.current_state = STATE_READY;
+      timestamp = HAL_GetTick() + 10000;
+      break;
+    case STATE_READY:
+      state.current_state = STATE_ACTIVE;
+      timestamp = HAL_GetTick() + 10000;
+      break;
+    case STATE_ACTIVE:
+      state.current_state = STATE_DISCHARGE;
+      timestamp = HAL_GetTick() + 10000;
+      PWM_powerground_control(1);
+      break;
+    case STATE_DISCHARGE:
+      state.current_state = STATE_INACTIVE;
+      timestamp = HAL_GetTick() + 10000;
+      break;
+  }
+
+  state.target_state = state.current_state;
+}

Core/Src/stm32f3xx_hal_msp.c

@@ -59,7 +59,7 @@
 /* USER CODE END 0 */
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-                                                                                /**
+                                        /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -173,19 +173,19 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
     PA15     ------> I2C1_SCL
     PB9     ------> I2C1_SDA
     */
-    GPIO_InitStruct.Pin = TMP_SCL_Pin;
+    GPIO_InitStruct.Pin = GPIO_PIN_15;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
-    HAL_GPIO_Init(TMP_SCL_GPIO_Port, &GPIO_InitStruct);
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-    GPIO_InitStruct.Pin = TMP_SDA_Pin;
+    GPIO_InitStruct.Pin = GPIO_PIN_9;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
-    HAL_GPIO_Init(TMP_SDA_GPIO_Port, &GPIO_InitStruct);
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* Peripheral clock enable */
     __HAL_RCC_I2C1_CLK_ENABLE();
@@ -193,30 +193,6 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
 
   /* USER CODE END I2C1_MspInit 1 */
   }
-  else if(hi2c->Instance==I2C2)
-  {
-  /* USER CODE BEGIN I2C2_MspInit 0 */
-
-  /* USER CODE END I2C2_MspInit 0 */
-
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    /**I2C2 GPIO Configuration
-    PA9     ------> I2C2_SCL
-    PA10     ------> I2C2_SDA
-    */
-    GPIO_InitStruct.Pin = EEPROM_SCL_Pin|EEPROM_SDA_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF4_I2C2;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-    /* Peripheral clock enable */
-    __HAL_RCC_I2C2_CLK_ENABLE();
-  /* USER CODE BEGIN I2C2_MspInit 1 */
-
-  /* USER CODE END I2C2_MspInit 1 */
-  }
 
 }
 
@@ -240,34 +216,14 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
     PA15     ------> I2C1_SCL
     PB9     ------> I2C1_SDA
     */
-    HAL_GPIO_DeInit(TMP_SCL_GPIO_Port, TMP_SCL_Pin);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_15);
 
-    HAL_GPIO_DeInit(TMP_SDA_GPIO_Port, TMP_SDA_Pin);
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
 
   /* USER CODE BEGIN I2C1_MspDeInit 1 */
 
   /* USER CODE END I2C1_MspDeInit 1 */
   }
-  else if(hi2c->Instance==I2C2)
-  {
-  /* USER CODE BEGIN I2C2_MspDeInit 0 */
-
-  /* USER CODE END I2C2_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_I2C2_CLK_DISABLE();
-
-    /**I2C2 GPIO Configuration
-    PA9     ------> I2C2_SCL
-    PA10     ------> I2C2_SDA
-    */
-    HAL_GPIO_DeInit(EEPROM_SCL_GPIO_Port, EEPROM_SCL_Pin);
-
-    HAL_GPIO_DeInit(EEPROM_SDA_GPIO_Port, EEPROM_SDA_Pin);
-
-  /* USER CODE BEGIN I2C2_MspDeInit 1 */
-
-  /* USER CODE END I2C2_MspDeInit 1 */
-  }
 
 }
 
@@ -346,38 +302,16 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
 */
 void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
 {
-  if(htim_pwm->Instance==TIM2)
+  if(htim_pwm->Instance==TIM1)
   {
-  /* USER CODE BEGIN TIM2_MspInit 0 */
+  /* USER CODE BEGIN TIM1_MspInit 0 */
 
-  /* USER CODE END TIM2_MspInit 0 */
+  /* USER CODE END TIM1_MspInit 0 */
     /* Peripheral clock enable */
-    __HAL_RCC_TIM2_CLK_ENABLE();
+    __HAL_RCC_TIM1_CLK_ENABLE();
-  /* USER CODE BEGIN TIM2_MspInit 1 */
+  /* USER CODE BEGIN TIM1_MspInit 1 */
 
-  /* USER CODE END TIM2_MspInit 1 */
+  /* USER CODE END TIM1_MspInit 1 */
-  }
-  else if(htim_pwm->Instance==TIM3)
-  {
-  /* USER CODE BEGIN TIM3_MspInit 0 */
-
-  /* USER CODE END TIM3_MspInit 0 */
-    /* Peripheral clock enable */
-    __HAL_RCC_TIM3_CLK_ENABLE();
-  /* USER CODE BEGIN TIM3_MspInit 1 */
-
-  /* USER CODE END TIM3_MspInit 1 */
-  }
-  else if(htim_pwm->Instance==TIM4)
-  {
-  /* USER CODE BEGIN TIM4_MspInit 0 */
-
-  /* USER CODE END TIM4_MspInit 0 */
-    /* Peripheral clock enable */
-    __HAL_RCC_TIM4_CLK_ENABLE();
-  /* USER CODE BEGIN TIM4_MspInit 1 */
-
-  /* USER CODE END TIM4_MspInit 1 */
   }
   else if(htim_pwm->Instance==TIM15)
   {
@@ -396,71 +330,25 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(htim->Instance==TIM2)
+  if(htim->Instance==TIM1)
   {
-  /* USER CODE BEGIN TIM2_MspPostInit 0 */
+  /* USER CODE BEGIN TIM1_MspPostInit 0 */
 
-  /* USER CODE END TIM2_MspPostInit 0 */
+  /* USER CODE END TIM1_MspPostInit 0 */
     __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**TIM2 GPIO Configuration
+    /**TIM1 GPIO Configuration
-    PB10     ------> TIM2_CH3
+    PB15     ------> TIM1_CH3N
-    PB11     ------> TIM2_CH4
     */
-    GPIO_InitStruct.Pin = BAT_COOLING_PWM_Pin|BAT_COOLING_ENABLE_Pin;
+    GPIO_InitStruct.Pin = PWM_Battery_Cooling_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    GPIO_InitStruct.Alternate = GPIO_AF4_TIM1;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(PWM_Battery_Cooling_GPIO_Port, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN TIM2_MspPostInit 1 */
+  /* USER CODE BEGIN TIM1_MspPostInit 1 */
 
-  /* USER CODE END TIM2_MspPostInit 1 */
+  /* USER CODE END TIM1_MspPostInit 1 */
-  }
-  else if(htim->Instance==TIM3)
-  {
-  /* USER CODE BEGIN TIM3_MspPostInit 0 */
-
-  /* USER CODE END TIM3_MspPostInit 0 */
-
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**TIM3 GPIO Configuration
-    PB0     ------> TIM3_CH3
-    PB1     ------> TIM3_CH4
-    */
-    GPIO_InitStruct.Pin = ESC_L_PWM_Pin|ESC_R_PWM_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN TIM3_MspPostInit 1 */
-
-  /* USER CODE END TIM3_MspPostInit 1 */
-  }
-  else if(htim->Instance==TIM4)
-  {
-  /* USER CODE BEGIN TIM4_MspPostInit 0 */
-
-  /* USER CODE END TIM4_MspPostInit 0 */
-
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**TIM4 GPIO Configuration
-    PB6     ------> TIM4_CH1
-    PB7     ------> TIM4_CH2
-    PB8     ------> TIM4_CH3
-    */
-    GPIO_InitStruct.Pin = STATUS_LED_R_Pin|STATUS_LED_G_Pin|STATUS_LED_B_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN TIM4_MspPostInit 1 */
-
-  /* USER CODE END TIM4_MspPostInit 1 */
   }
   else if(htim->Instance==TIM15)
   {
@@ -468,17 +356,17 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
   /* USER CODE END TIM15_MspPostInit 0 */
 
-    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOA_CLK_ENABLE();
     /**TIM15 GPIO Configuration
-    PB14     ------> TIM15_CH1
+    PA2     ------> TIM15_CH1
-    PB15     ------> TIM15_CH2
+    PA3     ------> TIM15_CH2
     */
-    GPIO_InitStruct.Pin = ESC_COOLING_ENABLE_Pin|ESC_COOLING_PWM_Pin;
+    GPIO_InitStruct.Pin = PWM_PG_FAN1_Pin|PWM_PG_FAN2_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF1_TIM15;
+    GPIO_InitStruct.Alternate = GPIO_AF9_TIM15;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
   /* USER CODE BEGIN TIM15_MspPostInit 1 */
 
@@ -494,38 +382,16 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 */
 void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
 {
-  if(htim_pwm->Instance==TIM2)
+  if(htim_pwm->Instance==TIM1)
   {
-  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
 
-  /* USER CODE END TIM2_MspDeInit 0 */
+  /* USER CODE END TIM1_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_TIM2_CLK_DISABLE();
+    __HAL_RCC_TIM1_CLK_DISABLE();
-  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
 
-  /* USER CODE END TIM2_MspDeInit 1 */
+  /* USER CODE END TIM1_MspDeInit 1 */
-  }
-  else if(htim_pwm->Instance==TIM3)
-  {
-  /* USER CODE BEGIN TIM3_MspDeInit 0 */
-
-  /* USER CODE END TIM3_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM3_CLK_DISABLE();
-  /* USER CODE BEGIN TIM3_MspDeInit 1 */
-
-  /* USER CODE END TIM3_MspDeInit 1 */
-  }
-  else if(htim_pwm->Instance==TIM4)
-  {
-  /* USER CODE BEGIN TIM4_MspDeInit 0 */
-
-  /* USER CODE END TIM4_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM4_CLK_DISABLE();
-  /* USER CODE BEGIN TIM4_MspDeInit 1 */
-
-  /* USER CODE END TIM4_MspDeInit 1 */
   }
   else if(htim_pwm->Instance==TIM15)
   {
@@ -541,6 +407,71 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
 
 }
 
+/**
+* @brief UART MSP Initialization
+* This function configures the hardware resources used in this example
+* @param huart: UART handle pointer
+* @retval None
+*/
+void HAL_UART_MspInit(UART_HandleTypeDef* huart)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(huart->Instance==USART1)
+  {
+  /* USER CODE BEGIN USART1_MspInit 0 */
+
+  /* USER CODE END USART1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_USART1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**USART1 GPIO Configuration
+    PB6     ------> USART1_TX
+    PB7     ------> USART1_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN USART1_MspInit 1 */
+
+  /* USER CODE END USART1_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief UART MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param huart: UART handle pointer
+* @retval None
+*/
+void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
+{
+  if(huart->Instance==USART1)
+  {
+  /* USER CODE BEGIN USART1_MspDeInit 0 */
+
+  /* USER CODE END USART1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART1_CLK_DISABLE();
+
+    /**USART1 GPIO Configuration
+    PB6     ------> USART1_TX
+    PB7     ------> USART1_RX
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
+
+  /* USER CODE BEGIN USART1_MspDeInit 1 */
+
+  /* USER CODE END USART1_MspDeInit 1 */
+  }
+
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */