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944952689e987a64eeb0c15073d6359a11fdd5f2
CCSModuleSW30Web/Core/Src/serial.c
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achamaikin 944952689e add cp filter
2026-05-05 17:05:21 +03:00

563 lines
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#include "serial.h"
#include "cp.h"
#include "connector.h"
#include "board.h"
#include "debug.h"
#include "isr_opt.h"
#include <stdint.h>
#include <string.h>
#include "charger_config.h"
#include "psu_control.h"
extern UART_HandleTypeDef huart3;
extern uint8_t config_initialized;
static void send_state(void);
static void CCS_SendResetReason(void);
CCS_MaxLoad_t CCS_MaxLoad;
uint32_t CCS_Power = 0;
uint32_t CCS_EnergyWs = 0;
uint32_t CCS_Energy = 0;
uint32_t last_cmd_sent = 0;
uint32_t last_stop_sent = 0;
CONN_Control_t last_cmd = CMD_NONE;
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 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];
uint8_t ESTOP = 0;
uint8_t REPLUG = 0;
static uint8_t enabled = 0;
static uint8_t pwm_duty_percent = 100;
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;
CCS_State_t CCS_State;
CCS_EvInfo_t CCS_EvInfo;
CONN_State_t CCS_EvseState;
CCS_ConnectorState_t CCS_ConnectorState = CCS_UNPLUGGED;
ISR_FAST static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len);
static void CCS_UART3_Watchdog(void);
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;
}
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 ((&huart3)->RxState == HAL_UART_STATE_READY) {
uart3_arm_rx_or_log("SerialLoop");
}
CCS_UART3_Watchdog();
if (CONN.connControl != CMD_NONE) {
last_cmd = CONN.connControl;
}
if((HAL_GetTick() - last_cmd_sent) > CMD_INTERVAL){
if ((HAL_GetTick() - last_state_sent) >= 200) {
send_state();
last_state_sent = HAL_GetTick();
}
if (ESTOP) {
log_printf(LOG_ERR, "ESTOP triggered\n");
CCS_SendEmergencyStop();
ESTOP = 0;
}
if (((CONN.connControl == CMD_STOP) ||
(CONN.chargingError != CONN_NO_ERROR)) &&
((HAL_GetTick() - last_stop_sent) > 1000)) {
last_stop_sent = HAL_GetTick();
log_printf(LOG_WARN, "Stopping charging...\n");
CCS_SendEmergencyStop();
}
if (((CCS_EvseState == FinishedEV) || (CCS_EvseState == FinishedEVSE)) &&
((HAL_GetTick() - last_stop_sent) > 1000)) {
last_stop_sent = HAL_GetTick();
log_printf(LOG_WARN, "FinishedEV, stopping...\n");
CCS_SendEmergencyStop();
}
}
(void)replug_watchdog_tick;
(void)replug_watchdog1_tick;
if (!config_initialized) {
// Keep connector in Unknown until host sends valid SET_CONFIG.
RELAY_Write(RELAY_CP, 1);
CONN_SetState(Unknown);
} else {
switch(CCS_ConnectorState){
case CCS_DISABLED:
RELAY_Write(RELAY_CP, 0);
CONN_SetState(Disabled);
if (CONN.chargingError == CONN_NO_ERROR){
CCS_ConnectorState = CCS_UNPLUGGED;
}
break;
case CCS_UNPLUGGED:
RELAY_Write(RELAY_CP, 1);
CONN_SetState(Unplugged);
if ((cp_state_buffer == EV_STATE_B_CONN_PREP) || (cp_state_buffer == EV_STATE_C_CONN_ACTIVE)){
CCS_ConnectorState = CCS_AUTH_REQUIRED;
}
if (CONN.chargingError != CONN_NO_ERROR){
log_printf(LOG_ERR, "Charging error %d, state -> disabled\n", CONN.chargingError);
CCS_ConnectorState = CCS_DISABLED;
}
break;
case CCS_AUTH_REQUIRED:
RELAY_Write(RELAY_CP, 1);
CONN_SetState(AuthRequired);
if(CONN.connControl == CMD_START){
log_printf(LOG_INFO, "Charging permitted, start charging\n");
CCS_ConnectorState = CCS_CONNECTED;
}
if (cp_state_buffer == EV_STATE_A_IDLE){
log_printf(LOG_INFO, "Car unplugged\n");
CCS_ConnectorState = CCS_UNPLUGGED;
}
break;
case CCS_CONNECTED:
RELAY_Write(RELAY_CP, 1);
if(CCS_EvseState < Preparing) {
CONN_SetState(Preparing);
} else {
CONN_SetState(CCS_EvseState);
}
if (cp_state_buffer == EV_STATE_A_IDLE){
log_printf(LOG_INFO, "Car unplugged\n");
CCS_ConnectorState = CCS_UNPLUGGED;
}
if(REPLUG > 0){
log_printf(LOG_INFO, "Replugging...\n");
CCS_ConnectorState = CCS_REPLUGGING;
}
break;
case CCS_REPLUGGING:
RELAY_Write(RELAY_CP, 0);
CONN_SetState(Replugging);
if((HAL_GetTick() - replug_tick) > 1000){
replug_tick = HAL_GetTick();
if(REPLUG > 0){
if (REPLUG != 0xFF) REPLUG--;
} else {
log_printf(LOG_INFO, "Replugging finished, but car unplugged\n");
CCS_ConnectorState = CCS_UNPLUGGED;
}
}
if(REPLUG == 0){
if(cp_state_buffer == EV_STATE_B_CONN_PREP){
log_printf(LOG_INFO, "Replugging finished, car plugged, state -> auth required\n");
CCS_ConnectorState = CCS_AUTH_REQUIRED;
}
}
break;
}
}
// If Everest timeout happened, keep safe-state and limit log frequency.
// The safe-state must remain until we receive a valid packet from the host.
if (everest_timed_out) {
if (last_everest_timeout_log_tick == 0 ||
(HAL_GetTick() - last_everest_timeout_log_tick) >= EVEREST_TIMEOUT_MS) {
log_printf(LOG_ERR, "Everest timeout\n");
last_everest_timeout_log_tick = HAL_GetTick();
}
CONN.EnableOutput = 0;
CCS_EvseState = Unknown;
CP_SetDuty(100);
} else if (last_host_seen > 0 && (HAL_GetTick() - last_host_seen) > EVEREST_TIMEOUT_MS) {
log_printf(LOG_ERR, "Everest timeout\n");
everest_timed_out = 1;
last_host_seen = HAL_GetTick(); // reset after the first timeout
last_everest_timeout_log_tick = HAL_GetTick();
CONN.EnableOutput = 0;
CCS_EvseState = Unknown;
CP_SetDuty(100);
} else {
if (last_cmd == CMD_STOP) {
CONN.EnableOutput = 0;
} else {
CONN.EnableOutput = ev_enable_output ? 1 : 0;
if((CONN.EnableOutput == 0) && (CONN.connState == Preparing)){
CONN.EnableOutput = 0;
}
}
}
if ((cp_state_buffer == EV_STATE_B_CONN_PREP) ||
(cp_state_buffer == EV_STATE_C_CONN_ACTIVE) ||
(cp_state_buffer == EV_STATE_D_CONN_ACT_VENT)) {
CONN.EvConnected = 1;
} else {
CONN.EvConnected = 0;
}
}
void CCS_Init(void){
CP_Init();
CP_SetDuty(100);
CCS_MaxLoad.maxVoltage = PSU_MAX_VOLTAGE; // 1000V
CCS_MaxLoad.minVoltage = PSU_MIN_VOLTAGE; //150V
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");
}
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];
for (uint8_t j = 0; j < 8; j++) {
if (crc & 1u) {
crc = (crc >> 1) ^ 0xA001u;
} else {
crc >>= 1;
}
}
}
return crc;
}
static uint16_t CCS_BuildPacket(uint8_t cmd, const void* payload, uint16_t payload_len, uint8_t* out, uint16_t out_max) {
uint16_t total_len = (uint16_t)(1u + payload_len + 2u);
if (total_len > out_max) return 0;
out[0] = cmd;
if (payload_len && payload != NULL) {
memcpy(&out[1], payload, payload_len);
}
uint16_t crc = crc16_ibm(out, (uint16_t)(1u + payload_len));
out[1u + payload_len] = (uint8_t)(crc & 0xFFu);
out[1u + payload_len + 1u] = (uint8_t)((crc >> 8) & 0xFFu);
return total_len;
}
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_IT(&huart3, tx_buffer, len);
}
last_cmd_sent = HAL_GetTick();
}
static void CCS_SendResetReason(void) {
CCS_SendPacket(CMD_M2E_RESET, NULL, 0);
}
void CCS_SendEmergencyStop(void) {
CCS_SendPacket(CMD_M2E_ESTOP, NULL, 0);
}
void CCS_SendStart(void) {
CCS_SendPacket(CMD_M2E_START, NULL, 0);
}
static void CCS_CalculateEnergy(void) {
static uint32_t lastTick = 0;
uint32_t currentTick = HAL_GetTick();
uint32_t elapsedTimeMs = currentTick - lastTick;
lastTick = currentTick;
CCS_Power = CONN.MeasuredVoltage * CONN.MeasuredCurrent / 10;
CCS_EnergyWs += (CCS_Power * elapsedTimeMs) / 1000;
if(CCS_EvseState == Unplugged) {
CCS_EnergyWs = 0;
}
CCS_Energy = CCS_EnergyWs / 3600;
}
static void send_state(void) {
CCS_CalculateEnergy();
CCS_State.DutyCycle = CP_GetDuty();
CCS_State.OutputEnabled = PSU0.CONT_enabled;
CCS_State.MeasuredVoltage = (uint16_t)CONN.MeasuredVoltage;
if (CONN.RequestedVoltage == 500) CCS_State.MeasuredVoltage = 500; // fake
CCS_State.MeasuredCurrent = (uint16_t)CONN.MeasuredCurrent;
CCS_State.Power = CCS_Power;
CCS_State.Energy = CCS_Energy;
if(CCS_ConnectorState == CCS_CONNECTED){
CCS_State.CpState = cp_state_buffer;
} else {
CCS_State.CpState = EV_STATE_A_IDLE;
}
CCS_State.MaxVoltage = CCS_MaxLoad.maxVoltage;
CCS_State.MinVoltage = CCS_MaxLoad.minVoltage;
CCS_State.MaxCurrent = CCS_MaxLoad.maxCurrent;
CCS_State.MinCurrent = CCS_MaxLoad.minCurrent;
CCS_State.MaxPower = CCS_MaxLoad.maxPower;
CCS_State.IsolationValid = isolation_enable;
CCS_State.IsolationResistance = 900000;
CCS_SendPacket(CMD_M2E_STATE, &CCS_State, sizeof(CCS_State));
}
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);
case CMD_E2M_RESET: return sizeof(e2m_reset_t);
case CMD_E2M_ENABLE: return sizeof(e2m_enable_t);
case CMD_E2M_REPLUG: return sizeof(e2m_replug_t);
case CMD_E2M_SET_OUTPUT_VOLTAGE: return sizeof(e2m_set_output_t);
case CMD_E2M_ISOLATION_CONTROL: return sizeof(e2m_isolation_control_t);
case CMD_E2M_EV_INFO: return sizeof(CCS_EvInfo_t);
case CMD_E2M_EVSE_STATE: return sizeof(CONN_State_t);
case CMD_E2M_KEEP_ALIVE: return 0;
default: return 0xFFFFu;
}
}
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;
last_everest_timeout_log_tick = 0;
switch (cmd) {
case CMD_E2M_PWM_DUTY: {
const e2m_pwm_duty_t* p = (const e2m_pwm_duty_t*)payload;
uint8_t duty = p->pwm_duty_percent;
if (duty > 100) duty = 100;
pwm_duty_percent = duty;
CP_SetDuty(duty);
break;
}
case CMD_E2M_ENABLE_OUTPUT: {
const e2m_enable_output_t* p = (const e2m_enable_output_t*)payload;
ev_enable_output = (p->enable_output != 0);
break;
}
case CMD_E2M_RESET: {
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();
}
break;
}
case CMD_E2M_ENABLE: {
const e2m_enable_t* p = (const e2m_enable_t*)payload;
enabled = (p->enable != 0);
(void)enabled;
break;
}
case CMD_E2M_SET_OUTPUT_VOLTAGE: {
const e2m_set_output_t* p = (const e2m_set_output_t*)payload;
CONN.RequestedVoltage = p->voltage_V;
CONN.WantedCurrent = p->current_0p1A;
break;
}
case CMD_E2M_ISOLATION_CONTROL: {
const e2m_isolation_control_t* p = (const e2m_isolation_control_t*)payload;
isolation_enable = p->command;
break;
}
case CMD_E2M_EV_INFO: {
memcpy(&CCS_EvInfo, payload, sizeof(CCS_EvInfo_t));
CONN.SOC = (uint8_t)(CCS_EvInfo.soc / 10);
break;
}
case CMD_E2M_EVSE_STATE: {
CCS_EvseState = (CONN_State_t)payload[0];
break;
}
case CMD_E2M_REPLUG: {
(void)payload;
CP_SetDuty(pwm_duty_percent);
break;
}
case CMD_E2M_KEEP_ALIVE: {
last_host_seen = HAL_GetTick();
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;
}
}
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 - 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)(1u + payload_len));
if (received_crc != calculated_crc) {
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 == 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,
"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;
}
if (payload_len > 0) {
apply_command(cmd, &packet[1], payload_len);
} else {
apply_command(cmd, NULL, 0);
}
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;
}
}
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