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latest version before merge

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This commit is contained in:
init.bin
2026-05-05 12:25:24 +03:00
parent 01c43840a5
commit 92c33b2f46
45 changed files with 33450 additions and 27415 deletions
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Core/Src/serial.c
+138 -23
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@@ -3,6 +3,7 @@
#include "connector.h"
#include "board.h"
#include "debug.h"
#include "isr_opt.h"
#include <stdint.h>
#include <string.h>
#include "charger_config.h"
@@ -28,7 +29,8 @@ uint8_t ev_enable_output = 0;
#define CMD_INTERVAL 10
#define MAX_TX_BUFFER_SIZE 256
#define MAX_RX_BUFFER_SIZE 256
#define EVEREST_TIMEOUT_MS 2000
#define EVEREST_TIMEOUT_MS 5000u
#define UART3_REINIT_TIMEOUT_MS 1500u
static uint8_t rx_buffer[MAX_RX_BUFFER_SIZE];
static uint8_t tx_buffer[MAX_TX_BUFFER_SIZE];
@@ -42,6 +44,8 @@ uint8_t isolation_enable = 0;
static uint32_t last_host_seen = 0;
static uint8_t everest_timed_out = 0;
static uint32_t last_everest_timeout_log_tick = 0;
static uint32_t uart3_last_packet_tick = 0;
static uint32_t uart3_last_reinit_tick = 0;
static CP_State_t cp_state_buffer = EV_STATE_ACQUIRING;
CCS_State_t CCS_State;
@@ -49,27 +53,97 @@ CCS_EvInfo_t CCS_EvInfo;
CONN_State_t CCS_EvseState;
CCS_ConnectorState_t CCS_ConnectorState = CCS_UNPLUGGED;
static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len);
ISR_FAST static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len);
static void CCS_UART3_Watchdog(void);
void CCS_RxEventCallback(UART_HandleTypeDef *huart, uint16_t size) {
if (huart != &huart3) {
ISR_FAST static void uart3_log_hal_error(uint8_t uart_num, uint32_t err) {
if (err == HAL_UART_ERROR_NONE) {
log_printf(LOG_ERR, "UART%u HAL error decode: NONE\n", uart_num);
return;
}
if (size > 0 && size <= sizeof(rx_buffer)) {
process_received_packet(rx_buffer, size);
log_printf(LOG_ERR, "UART%u HAL error decode: %s%s%s%s%s%s raw=0x%08lx\n",
uart_num,
(err & HAL_UART_ERROR_PE) ? "PE " : "",
(err & HAL_UART_ERROR_NE) ? "NE " : "",
(err & HAL_UART_ERROR_FE) ? "FE " : "",
(err & HAL_UART_ERROR_ORE) ? "ORE " : "",
(err & HAL_UART_ERROR_DMA) ? "DMA " : "",
#ifdef HAL_UART_ERROR_INVALID_CALLBACK
(err & HAL_UART_ERROR_INVALID_CALLBACK) ? "INV_CB " : "",
#else
"",
#endif
(unsigned long)err);
}
ISR_FAST static void uart3_arm_rx_or_log(const char *where) {
HAL_StatusTypeDef st = HAL_UARTEx_ReceiveToIdle_IT(&huart3, rx_buffer, sizeof(rx_buffer));
if (st == HAL_OK) {
return;
}
uint32_t err_after = HAL_UART_GetError(&huart3);
log_printf(LOG_ERR,
"UART3 RX arm failed (%s): HAL_Status=%d err_after=0x%08lx\n",
where, (int)st, (unsigned long)err_after);
uart3_log_hal_error(3u, err_after);
if (err_after != HAL_UART_ERROR_NONE) {
(void)HAL_UART_Abort_IT(&huart3);
}
}
ISR_FAST void CCS_RxEventCallback(UART_HandleTypeDef *huart, uint16_t size) {
if (huart != &huart3) {
log_printf(LOG_WARN, "UART3 RX drop: wrong huart in RxEventCallback (size=%u)\n",
(unsigned)size);
return;
}
if (size == 0u) {
log_printf(LOG_WARN, "UART3 RX drop: RxEvent size=0 (idle, no payload)\n");
uart3_arm_rx_or_log("RxEventCallback");
return;
}
if (size > sizeof(rx_buffer)) {
log_printf(LOG_ERR, "UART3 RX drop: size=%u > rx_buffer %u (overflow, not parsed)\n",
(unsigned)size, (unsigned)sizeof(rx_buffer));
uart3_arm_rx_or_log("RxEventCallback");
return;
}
uart3_last_packet_tick = HAL_GetTick();
uart3_last_reinit_tick = uart3_last_packet_tick;
process_received_packet(rx_buffer, size);
uart3_arm_rx_or_log("RxEventCallback");
}
ISR_FAST void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) {
uint32_t error = HAL_UART_GetError(huart);
uint8_t uart_num =
(huart == &huart2) ? 2 :
(huart == &huart3) ? 3 :
(huart == &huart5) ? 5 : 0;
log_printf(LOG_ERR,
"UART%u HAL error (ISR): raw=0x%08lx — RX may be corrupted until re-arm\n",
uart_num, (unsigned long)error);
uart3_log_hal_error(uart_num, error);
(void)HAL_UART_Abort_IT(huart);
if (huart == &huart3) {
uart3_arm_rx_or_log("ErrorCallback");
}
}
void CCS_SerialLoop(void) {
static uint32_t replug_tick = 0;
static uint32_t replug_watchdog_tick = 0;
static uint32_t replug_watchdog1_tick = 0;
static uint32_t last_state_sent = 0;
if (HAL_UART_GetState(&huart3) == HAL_UART_STATE_READY) {
(void)HAL_UARTEx_ReceiveToIdle_IT(&huart3, rx_buffer, sizeof(rx_buffer));
if ((&huart3)->RxState == HAL_UART_STATE_READY) {
uart3_arm_rx_or_log("SerialLoop");
}
CCS_UART3_Watchdog();
/* Read CP once per loop and use buffered value below. */
cp_state_buffer = CP_GetState();
@@ -232,11 +306,13 @@ void CCS_Init(void){
CCS_MaxLoad.maxCurrent = PSU_MAX_CURRENT*10; //100A
CCS_MaxLoad.minCurrent = PSU_MIN_CURRENT*10; //1A
CCS_MaxLoad.maxPower = PSU_MAX_POWER; //30000W
uart3_last_packet_tick = HAL_GetTick();
uart3_last_reinit_tick = uart3_last_packet_tick;
CCS_SendResetReason();
log_printf(LOG_INFO, "CCS init\n");
}
static uint16_t crc16_ibm(const uint8_t* data, uint16_t length) {
ISR_FAST static uint16_t crc16_ibm(const uint8_t* data, uint16_t length) {
uint16_t crc = 0xFFFFu;
for (uint16_t i = 0; i < length; i++) {
crc ^= data[i];
@@ -270,7 +346,7 @@ static uint16_t CCS_BuildPacket(uint8_t cmd, const void* payload, uint16_t paylo
static void CCS_SendPacket(uint8_t cmd, const void* payload, uint16_t payload_len) {
uint16_t len = CCS_BuildPacket(cmd, payload, payload_len, tx_buffer, sizeof(tx_buffer));
if (len > 0) {
HAL_UART_Transmit(&huart3, tx_buffer, len, 1000);
HAL_UART_Transmit_IT(&huart3, tx_buffer, len);
}
last_cmd_sent = HAL_GetTick();
}
@@ -330,7 +406,7 @@ static void send_state(void) {
CCS_SendPacket(CMD_M2E_STATE, &CCS_State, sizeof(CCS_State));
}
static uint16_t expected_payload_len(uint8_t cmd) {
ISR_FAST static uint16_t expected_payload_len(uint8_t cmd) {
switch (cmd) {
case CMD_E2M_PWM_DUTY: return sizeof(e2m_pwm_duty_t);
case CMD_E2M_ENABLE_OUTPUT: return sizeof(e2m_enable_output_t);
@@ -346,7 +422,7 @@ static uint16_t expected_payload_len(uint8_t cmd) {
}
}
static void apply_command(uint8_t cmd, const uint8_t* payload, uint16_t payload_len) {
ISR_FAST static void apply_command(uint8_t cmd, const uint8_t* payload, uint16_t payload_len) {
(void)payload_len;
last_host_seen = HAL_GetTick();
everest_timed_out = 0;
@@ -369,9 +445,9 @@ static void apply_command(uint8_t cmd, const uint8_t* payload, uint16_t payload_
const e2m_reset_t* p = (const e2m_reset_t*)payload;
if (p->reset) {
log_printf(LOG_WARN, "Everest reset command\n");
CCS_SendResetReason();
HAL_Delay(10);
NVIC_SystemReset();
// CCS_SendResetReason();
// HAL_Delay(10);
// NVIC_SystemReset();
}
break;
}
@@ -411,32 +487,54 @@ static void apply_command(uint8_t cmd, const uint8_t* payload, uint16_t payload_
break;
}
default:
log_printf(LOG_WARN,
"UART3 RX warn: cmd 0x%02x CRC/len OK but no switch case (expected_payload vs apply_command)\n",
cmd);
break;
}
}
static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len) {
if (packet_len < 3) return 0;
ISR_FAST static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len) {
if (packet_len < 3u) {
if (packet_len == 0u) {
log_printf(LOG_WARN, "UART3 RX drop: too_short len=0 (empty chunk)\n");
} else if (packet_len == 1u) {
log_printf(LOG_WARN, "UART3 RX drop: too_short len=1 b0=0x%02x\n", packet[0]);
} else {
log_printf(LOG_WARN, "UART3 RX drop: too_short len=2 b0=0x%02x b1=0x%02x\n",
packet[0], packet[1]);
}
return 0;
}
uint8_t cmd = packet[0];
uint16_t payload_len = (uint16_t)(packet_len - 3);
uint16_t payload_len = (uint16_t)(packet_len - 3u);
uint16_t received_crc = (uint16_t)packet[packet_len - 2u] |
(uint16_t)packet[packet_len - 1u] << 8;
uint16_t calculated_crc = crc16_ibm(packet, (uint16_t)(1 + payload_len));
uint16_t calculated_crc = crc16_ibm(packet, (uint16_t)(1u + payload_len));
if (received_crc != calculated_crc) {
log_printf(LOG_ERR, "Packet CRC error\n");
log_printf(LOG_ERR,
"UART3 RX drop: crc_mismatch cmd=0x%02x total_len=%u payload_len=%u "
"crc_rx=0x%04x crc_calc=0x%04x\n",
cmd, (unsigned)packet_len, (unsigned)payload_len,
(unsigned)received_crc, (unsigned)calculated_crc);
return 0;
}
uint16_t expected_len = expected_payload_len(cmd);
if (expected_len == 0xFFFF) {
log_printf(LOG_WARN, "Unknown cmd 0x%02x\n", cmd);
if (expected_len == 0xFFFFu) {
log_printf(LOG_WARN,
"UART3 RX drop: unknown_cmd cmd=0x%02x total_len=%u payload_len=%u\n",
cmd, (unsigned)packet_len, (unsigned)payload_len);
return 0;
}
if (expected_len != payload_len) {
log_printf(LOG_ERR, "Packet len mismatch cmd=0x%02x\n", cmd);
log_printf(LOG_ERR,
"UART3 RX drop: len_mismatch cmd=0x%02x expected_payload=%u got_payload=%u "
"total_len=%u\n",
cmd, (unsigned)expected_len, (unsigned)payload_len, (unsigned)packet_len);
return 0;
}
@@ -449,3 +547,20 @@ static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_le
return 1;
}
static void CCS_UART3_Watchdog(void) {
const uint32_t now = HAL_GetTick();
const uint32_t since_last_packet = now - uart3_last_packet_tick;
if ((since_last_packet >= UART3_REINIT_TIMEOUT_MS) &&
((now - uart3_last_reinit_tick) >= UART3_REINIT_TIMEOUT_MS)) {
(void)HAL_UART_Abort_IT(&huart3);
(void)HAL_UART_DeInit(&huart3);
(void)HAL_UART_Init(&huart3);
(void)HAL_UARTEx_ReceiveToIdle_IT(&huart3, rx_buffer, sizeof(rx_buffer));
log_printf(LOG_ERR,
"UART3 RX recover: stalled (no RxEvent data for %ums), hard reinit\n",
(unsigned)UART3_REINIT_TIMEOUT_MS);
uart3_last_reinit_tick = now;
}
}