Master_BMS/BMS Master/Sources/BMS_Master.c

//##############################################################################
//
// FILE:	BMS_Master.c
//
// TITLE:	Functions of BMS_Master
//            void		BMS_Init_BSD	( void );
//            void		BMS_Init_BSE	( void );
//            void		SwitchRelais	( uint8_t, uint8_t );
//            void		SetBalancer		( void );
//	          uint16_t	BMS_Do			( void );
//
//
//##############################################################################

//==============================================================================
// Historie:
//==============================================================================
// Datum:   | Name | Version:| Aenderungsgrund:                          | rev.:
//------------------------------------------------------------------------------
//          |  SB  | 2.1    |  Implementaion of Balancing and SoC Estimator                                         | 003   
//------------------------------------------------------------------------------
//          |  SB  |  2.0   | Adaptation for RCT	                                           | 002   
//------------------------------------------------------------------------------
// 01.07.13 |  VR  |   1.1   | Rearrange Code for IAA Bus                | 001 
//------------------------------------------------------------------------------
// 20.04.10 |  TM  |   1.0   | Start Code for Master Test                | 000
//==============================================================================

#include "BMS_Master.h"



// ***** Global Data ***********************************************************
extern uint32_t 	Global_1msCounter; 
extern BSE_t		gBSE;
extern BSD_t		gBSD;






// ***** SwitchRelais **********************************************************
void SwitchRelais( uint8_t Relais, uint8_t OnOff )
{
	if( Relais == LS_RELAIS )
	{
		if(OnOff)
			SET_OUTPIN( PIN_REGNR_RELAIS_SLAVE );
		else
			CLEAR_OUTPIN( PIN_REGNR_RELAIS_SLAVE);
	}
	
	if( Relais == HS_RELAIS)
	{
		if(OnOff) {
			SET_OUTPIN( PIN_REGNR_RELAIS_PLUS );
			SET_OUTPIN(PIN_REGNR_LED3);
		}
		else{
			CLEAR_OUTPIN( PIN_REGNR_RELAIS_PLUS );
			CLEAR_OUTPIN(PIN_REGNR_LED3);
		}
	}
	
	if( Relais == PRE_CHARGE_RELAIS )
	{
		if(OnOff)
			SET_OUTPIN( PIN_REGNR_RELAIS_PRECHA );
		else
			CLEAR_OUTPIN( PIN_REGNR_RELAIS_PRECHA );
	}
	if( Relais ==PWR_SUPPLY ) {
		if(OnOff)
			SET_OUTPIN( PIN_REGNR_PWR_SUPPLY );
		else
			CLEAR_OUTPIN( PIN_REGNR_PWR_SUPPLY );
	}

}









uint16_t init_master_CAN0_fsm(MASTER_CAN0_STRUCT_t* s,BMS_SLAVE_CONFIGURATION_t* cellConfig,BMS_UI_CONFIGURATION_t* uiConfig) {
	uint8_t slaveNr;
	uint8_t i;
	uint16_t stateActive;
	//go thought all connected Slaves
	for(slaveNr=0;slaveNr<CAN0_MAX_NR_OF_SLAVES-1;slaveNr++) {
			
			// set slave Type
			s->Slave[slaveNr].SlaveType=cellConfig[slaveNr].type;
			s->Slave[slaveNr].TxMailbox_ptr=MB_Container[slaveNr];
			s->Slave[slaveNr].TxTelegram_ptr=&TelegramTxContainer[slaveNr];
			s->Slave[slaveNr].SlaveConnectionState=cellConfig[slaveNr].connectionSate;
			
			// set initial Voltage and Temp value to 0xffff = not initialzied
			
			for(i=0;i<MAX_SLAVE_CELLS;i++) {
				s->Slave[slaveNr].CellVoltage[i]=0xffff;
				s->Slave[slaveNr].CellTemp[i]=-51;
				s->Slave[slaveNr].CellConnectionState[i]=cellConfig[slaveNr].cellConnectionState[i];
				s->Slave[slaveNr].TempSensConnectionState[i]=cellConfig[slaveNr].tempSensConnectionState[i];
			}
			s->Slave[slaveNr].HeatSinkTemp=-51;
			
			// set slave alive cnt to 0xff fot not initialized
			for(i=0;i<CAN0_NR_OF_TELEGRAMS;i++) {
				s->Slave[slaveNr].SlaveAliveCnt[i]=0xff;
			}
			
			// set slave Status to 0xff for Not initialized
			s->Slave[slaveNr].SlaveMode=0xff;
			// no Errors
			s->Slave[slaveNr].SlaveError =0 ;
			
			// first State Running mode
			s->Slave[slaveNr].Set_Mode = BMS_SLAVE_RUN ;
			// No Balancing
			s->Slave[slaveNr].Balance_Cell_0_7=0;
			s->Slave[slaveNr].Balance_Cell_8_15=0;
			s->Slave[slaveNr].Balance_Cell_16_23=0;
			
			// set Slave Error to 0
			s->Slave[slaveNr].SlaveCanCommuniationError.FailedComCnt=0;
			s->Slave[slaveNr].SlaveCanCommuniationError.SlaveErrorCounterRegister=0;
			s->Slave[slaveNr].SlaveCanCommuniationError.SlaveErrorStateRegister=0;
			s->Slave[slaveNr].SlaveCanCommuniationError.WrongAliveCnt=0;
			
			s->Slave[slaveNr].MasterAliveCnt=0;
			s->Slave[slaveNr].maxCellTemp=0;
			s->Slave[slaveNr].minCellTemp=0;			
		}
	
	// init UI
	
	s->Slave[15].SlaveType=uiConfig->type;
	s->Slave[15].TxMailbox_ptr=MB_Container[15];
	s->Slave[15].TxTelegram_ptr=&TelegramTxContainer[15];
	s->Slave[15].SlaveConnectionState=uiConfig->connectionSate;
	
	s->Slave[15].SlaveMode=0xff;
	// no Errors
	s->Slave[15].SlaveError =0 ;
	
	// first State Running mode
	s->Slave[15].Set_Mode = BMS_SLAVE_RUN ;

	
	// set Slave Error to 0
	s->Slave[15].SlaveCanCommuniationError.FailedComCnt=0;
	s->Slave[15].SlaveCanCommuniationError.SlaveErrorCounterRegister=0;
	s->Slave[15].SlaveCanCommuniationError.SlaveErrorStateRegister=0;
	s->Slave[15].SlaveCanCommuniationError.WrongAliveCnt=0;
	
		
	// set State to INIT
	s->FsmState=INIT;
	s->slaveSelect=0;
	s->transmission_pending=FALSE;
	s->cycleCounter=0;
	s->cycleTimestamp=0;
	s->StateOfCharge=40*60*60*1000; // 40Ah in mAs
	s->allValuesInitialized = FALSE;
	s->startCan1Comm=FALSE;
	s->balancerState=BMS_BALANCE_INIT;
	

	s->SoC_initialized=FALSE;
	s->SoC_outside=0;
	s->maxHeatSinkTemp=0;
	s->NrOfSlaves= get_nr_of_connected_slaves(s);
	
	s->CAN1_fsmStruct.fsmState=CAN1_FSM_INIT;
	s->CAN1_fsmStruct.highPrioMsgNr=0;
	s->CAN1_fsmStruct.lowPrioMsgNr=0;
	s->CAN1_fsmStruct.requestTelegramNr=0;
	s->CAN1_fsmStruct.timeoutCyclesCnt=0;
	s->CAN1_fsmStruct.receivedTelegrams=0;
	s->CAN1_fsmStruct.fastRequestFsmRunning=FALSE;
	s->CAN1_fsmStruct.slowRequestFsmRunning=FALSE;
	s->CAN1_fsmStruct.fastRxState=CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT;
	s->CAN1_fsmStruct.nrOfRecCurrentSamples=0;
	
	s->FsmErrorState=ERROR_INIT;
	//s->ErrorStack.ErrorNr=0;
	//s->RunMode=RUN_MODE_INIT;
	s->ErrorFlags=0;
	// celar Error Buffers
	ErrorStackClearBuffer(s); 
	
	// set Operation fsms to idle
	s->RunMode.OperationMode=OP_MODE_INIT;
	s->RunMode.ErrorState1fsm=ES1_FSM_INIT;
	s->RunMode.ErrorState2fsm=ES2_FSM_INIT;
	s->RunMode.ErrorState3fsm=ES3_FSM_INIT;
	// init master temp sensor
	s->masterTemp=18;
	s->MasterTempSensState=BMS_MASTER_TEMP_SENSOR_INITIATE_MEASUREMENT;
	s->inverterState.state=RCT_INV_INACTIVE;
	s->inverterState.inverterCanOnline=FALSE;
	s->inverterState.inverterIsCharging=FALSE;
	s->inverterState.startupPwr=0;
	
	// assign impossible values to be able to check if values have been initialized
	s->inverter.rxStruct.expectedInputPower=-1;
	s->inverter.rxStruct.DCinputA_power=-1;
	s->inverter.rxStruct.DCinputB_power=-1;
	
	BMS_Clear_Error_init_recovery_struct(s);//clear recovery struct
	s->ErrorBuffer.ES2_New_Error=0;
	s->relayState.HS_closed=0;
	s->relayState.LS_closed=0;
	s->relayState.PRECHARGE_closed=0;
	s->relayState.reseved=0;
	
	s->reset_test_timestamp=0;

	BMS_RCT_init_fsm(s);
	initUIFifo(s);
}
	


void set_slave_cell_connection_state(MASTER_CAN0_STRUCT_t* s,uint8_t slaveNr,CELL_STATE_t* cell_state){
	uint8_t i;
	for(i=0;i<MAX_SLAVE_CELLS;i++) {
		s->Slave[slaveNr].CellConnectionState[i]=cell_state[i];
	}
}

void set_slave_temp_connection_state(MASTER_CAN0_STRUCT_t* s,uint8_t slaveNr,TEMP_SENSOR_STATE_t* temp_state){
	uint8_t i;
	for(i=0;i<MAX_SLAVE_CELLS;i++) {
		s->Slave[slaveNr].TempSensConnectionState[i]=temp_state[i];
	}
}

uint8_t check_slave_data(MASTER_CAN0_STRUCT_t* s,
		BMS_CAN0_SLAVE_t* Slave,
		BMS_CAN0_SLAVE_t* tempSlave,
		int8_t overTemp_charge,
		int8_t overTemp_discharge,
		int8_t underTemp_charge,
		int8_t underTemp_discharge,
		uint16_t overVoltage,uint16_t underVoltage) {
	uint8_t i;
	uint8_t error_status=BMS_SLAVE_DATA_OK;
	uint16_t current=s->UI_Board.Ibatt*10;
	
	// Check Slave Mode
	if(tempSlave->SlaveMode==BMS_SLAVE_RUN) {
		// everything OK
		
		
		//check Slave Alive Counter
		
		//if Failed communication counter is grater than 0  the communication
		//attempt last Cycle failed and the alive counters are out of sync
		if(tempSlave->SlaveCanCommuniationError.FailedComCnt>0) {
			//
			for(i=0;i<CAN0_NR_OF_TELEGRAMS;i++) {
				Slave->SlaveAliveCnt[i]=tempSlave->SlaveAliveCnt[i];
			}
			tempSlave->SlaveCanCommuniationError.FailedComCnt=0;
		}
		//compare all Slave Alive Counter
		else{
			for(i=0;i<CAN0_NR_OF_TELEGRAMS;i++) {
				if(	(tempSlave->SlaveAliveCnt[i] == Slave->SlaveAliveCnt[i] + 1) ||
					(Slave->SlaveAliveCnt[i] ==0x7 && tempSlave->SlaveAliveCnt[i] ==0) ) {
					// Slave Alive Counter == OK
					Slave->SlaveAliveCnt[i]=tempSlave->SlaveAliveCnt[i];
					Slave->SlaveCanCommuniationError.WrongAliveCnt=0;
				}
				else {
					// slave Alive Counter didn't change or made bigger steps
				
					Slave->SlaveCanCommuniationError.WrongAliveCnt++;
					if(Slave->SlaveCanCommuniationError.WrongAliveCnt>=CAN0_MAX_NR_OF_FAILED_COM) {
						error_status|=BMS_SLAVE_DATA_ERROR_ALIVE_TIMEOUT;
						// set CAN ERROR
						ErrorStackPushMasterError(s,BMS_ERROR_STACK_SLAVE_CAN_ERROR,BMS_ERROR_CLASS_1);
						return error_status;
					}
					for(i=0;i<CAN0_NR_OF_TELEGRAMS;i++) {
						Slave->SlaveAliveCnt[i]=tempSlave->SlaveAliveCnt[i];
					}
					error_status |=BMS_SALVE_DATA_ERROR_ALIVE_CNT;
					return error_status;

				}
			}
		}
		
		// check voltages
		// discard uninitialized values 0xff and Bypassed cells
		for(i=0;i<MAX_SLAVE_CELLS;i++){
			if(tempSlave->CellConnectionState[i]==CELL_BYPASSED) {
				// no cell == no voltage 
				tempSlave->CellVoltage[i]=0;
			}
			else if(tempSlave->CellConnectionState[i]==CELL_CONNECTED && tempSlave->CellVoltage[i]>= 0xfff8 ) {
				// not initialized cells
				//TODO decide upon signed unsigned representation
				// use old value
				tempSlave->CellVoltage[i]= Slave->CellVoltage[i];
				
			}
			if( (tempSlave->CellVoltage[i] >= overVoltage || tempSlave->CellVoltage[i] <= underVoltage) 
				&& tempSlave->CellConnectionState[i]==CELL_CONNECTED) {
				//copy Slave to record current Errors
				*Slave=*tempSlave;
				error_status |=BMS_SLAVE_DATA_ERROR_VOLTAGE_LIMIT;
				
				// Write Error Stack
				if(tempSlave->CellVoltage[i] >= overVoltage ) {
					
					ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_OVER_VOLTAGE,i,BMS_ERROR_CLASS_3);
					error_status |=BMS_SLAVE_DATA_ERROR_OVER_VOLTAGE;
				}
				else {
					
					ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_UNDER_VOLTAGE,i,BMS_ERROR_CLASS_3);
					error_status |=BMS_SLAVE_DATA_ERROR_UNDER_VOLTAGE;
				}
				
				return error_status;
			}
			
		}
		
		if(tempSlave->HeatSinkTemp >= BMS_ERROR_THRESHOLD_T_HEATSINK_MAX || tempSlave->HeatSinkTemp <= BMS_ERROR_THRESHOLD_T_HEATSINK_MIN){
			//copy Slave to record current Errors
			*Slave=*tempSlave;
			error_status |=BMS_SLAVE_DATA_ERROR_HEAT_SINK_LIMIT;
			// Write Error Stack
			if(tempSlave->HeatSinkTemp >= BMS_ERROR_THRESHOLD_T_HEATSINK_MAX  ) {
				// Has to be defined
				
			}
			else {
				// has to be defined
			}
			return error_status;
		}
		
		//check cell temperatures		
		for(i=0;i<MAX_SLAVE_CELLS;i++){
			
			if (tempSlave->CellTemp[i] > -40) {
				//toDo: QUICKFIX FOR INITIALIZED SENSORS
				
				if(current < -100 ) {
					// battery is charged
					if( (tempSlave->CellTemp[i] >= overTemp_charge || tempSlave->CellTemp[i] <= underTemp_charge) 
						&& tempSlave->TempSensConnectionState[i] ==TEMP_SENSOR_CONNECTED) {
						//copy Slave to record current Errors
						*Slave=*tempSlave;
						error_status |=BMS_SLAVE_DATA_ERROR_TEMP_LIMIT;
						
						// Write Error Stack
						if(tempSlave->CellTemp[i] >= overTemp_charge  ) {
							ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_OVER_TEMP_CHARGE,i,BMS_ERROR_CLASS_3);
							
						}
						else {
							ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_UNDER_TEMP_CHARGE,i,BMS_ERROR_CLASS_3);
						}
						return error_status;
					}	
				}
				else {
					// battery is discharged
					if( (tempSlave->CellTemp[i] >= overTemp_discharge || tempSlave->CellTemp[i] <= underTemp_discharge) 
						&& tempSlave->TempSensConnectionState[i] ==TEMP_SENSOR_CONNECTED) {
						//copy Slave to record current Errors
						*Slave=*tempSlave;
						error_status |=BMS_SLAVE_DATA_ERROR_TEMP_LIMIT;
						
						// Write Error Stack
						if(tempSlave->CellTemp[i] >= overTemp_discharge  ) {
							ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_OVER_TEMP_DISCHARGE,i,BMS_ERROR_CLASS_3);
							
						}
						else {
							ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_UNDER_TEMP_DISCHARGE,i,BMS_ERROR_CLASS_3);
						}
						return error_status;
					}						
				}
			}
		}
		

	
		*Slave=*tempSlave;
		return error_status; //everything should be ok
	}
}

uint8_t check_UI_data(BMS_CAN0_SLAVE_t* Slave, BMS_CAN0_SLAVE_t* tempSlave,BMS_CAN0_UI_t* ui,BMS_CAN0_UI_t* tempUI) {
	// todo Check Alive Cnt
	// Check Over current etc
	uint8_t i=0;
	
	if(tempUI->Ibatt > 50) {
		i++;
	}
	
	ui->Ubatt=tempUI->Ubatt;
	ui->Ibatt=tempUI->Ibatt;
	ui->Checksum=tempUI->Checksum;
	return BMS_SLAVE_DATA_OK;
}

/**
 * @brief calculate Voltage of Slave Board By adding cell voltages
 */
uint32_t calc_block_voltage(BMS_CAN0_SLAVE_t* Slave) {
	uint32_t blockVoltage=0;
	uint8_t i=0;
	for(i=0;i<MAX_SLAVE_CELLS;i++) {
		if(Slave->CellConnectionState[i]==CELL_CONNECTED) {
			blockVoltage += Slave->CellVoltage[i];
		}
	}
	return blockVoltage;
}

/**
 * @brief calculate min and Max Voltage of Block
 */
uint32_t calc_min_max_voltage_slave(BMS_CAN0_SLAVE_t* Slave) {
	uint16_t minV=Slave->CellVoltage[0];
	uint16_t maxV=Slave->CellVoltage[0];
	uint8_t i=0;
	for(i=0;i<MAX_SLAVE_CELLS;i++) {
		if(Slave->CellConnectionState[i]==CELL_CONNECTED) {
			if(minV >= Slave->CellVoltage[i]) {
				minV = Slave->CellVoltage[i];	
			}
			if(maxV <= Slave->CellVoltage[i]) {
				maxV = Slave->CellVoltage[i];	
			}			
		}

	}
	Slave->minCellVoltage=minV;
	Slave->maxCellVoltage=maxV;
	return TRUE;
}

/**
 * @brief calculate min and Max Voltage of System
 */
uint32_t calc_min_max_voltage_system(MASTER_CAN0_STRUCT_t* s) {
	uint8_t slave_nr=0;
	uint16_t minV=BMS_SLAVE_MAX_CELL_VOLTAGE;
	uint16_t maxV=BMS_SLAVE_MIN_CELL_VOLTAGE;
	BMS_CAN0_SLAVE_t* Slave;
	for(slave_nr=0;slave_nr<CAN0_MAX_NR_OF_SLAVES -1 ;slave_nr++) {
		if(s->Slave[slave_nr].SlaveConnectionState != NOT_CONNECTED ) {
			//slave is connected
			Slave=&(s->Slave[slave_nr]);
			if(Slave->maxCellVoltage >=maxV ) {
				maxV = Slave->maxCellVoltage;
			}
			if(Slave->minCellVoltage <= minV) {
				minV = Slave->minCellVoltage;
			}
		}
	}
	s->minCellVoltage=minV;
	s->maxCellVoltage=maxV;
	return TRUE;
}

/*
 * set balancing register for cell_nr 
 */
uint32_t balance_cell(BMS_CAN0_SLAVE_t* Slave,uint8_t cell_nr) {
	if( cell_nr <8) {
		Slave->Balance_Cell_0_7|= (1<<cell_nr);
		return TRUE;
	}
	else if(cell_nr <16) {
		Slave->Balance_Cell_8_15|=(1<<(cell_nr-8));
		return TRUE;
	}
	else {
		Slave->Balance_Cell_16_23|=(1<<(cell_nr-16));
		return TRUE;		
	}
	
	return FALSE;
}

/**
 * go though all slaves, destinguish slaves to balance and set Balancearray
 */
uint32_t set_balancer(MASTER_CAN0_STRUCT_t* s) {
	uint8_t slave_nr=0;
	uint8_t cell_nr=0;
	BMS_CAN0_SLAVE_t* Slave;
	
	for(slave_nr=0;slave_nr < CAN0_MAX_NR_OF_SLAVES -1 ;slave_nr++) {	// -1 because slave 15 is UI
		if(s->Slave[slave_nr].SlaveConnectionState != NOT_CONNECTED) {
			// slave is connected
			Slave=&(s->Slave[slave_nr]);
			
			
			if(Slave->maxCellVoltage - s->minCellVoltage > SLAVE_BALANCE_MIN_DELTA_U_MV) {
				// blancing neccessay
				for(cell_nr=0;cell_nr <MAX_SLAVE_CELLS;cell_nr++) {
					if(Slave->CellConnectionState[cell_nr]==CELL_CONNECTED) {
						// cell is connected
						if(Slave->CellVoltage[cell_nr] - s->minCellVoltage > SLAVE_BALANCE_MIN_DELTA_U_MV) {
							// cell has to be balanced
							balance_cell(Slave,cell_nr);
						}
					}
				}
			}
			else {
				// no need to balance				
			}

		}
		
	}
	
}

/**
 * set all balance registers to off
 */
uint32_t set_balancer_off(MASTER_CAN0_STRUCT_t* s) {
	uint8_t slave_nr=0;
	BMS_CAN0_SLAVE_t* Slave;
	for(slave_nr=0;slave_nr < CAN0_MAX_NR_OF_SLAVES -1 ;slave_nr++) {
		Slave=&(s->Slave[slave_nr]);
		Slave->Balance_Cell_0_7=0;
		Slave->Balance_Cell_16_23=0;
		Slave->Balance_Cell_8_15=0;		
	}
	return TRUE;
}


/**
 * @brief set min and Max Cell Temperature
 *  */

uint32_t set_block_min_max_temp(BMS_CAN0_SLAVE_t* Slave){
	uint8_t	i;
	int8_t maxTemp=25;
	int8_t minTemp=25;
	for(i=0;i<MAX_SLAVE_CELLS;i++) {
		if(Slave->TempSensConnectionState[i]==TEMP_SENSOR_CONNECTED){
			if(Slave->CellTemp[i] > maxTemp) {
				maxTemp=Slave->CellTemp[i];
			}
			if(Slave->CellTemp[i] < minTemp) {
				minTemp=Slave->CellTemp[i];
			}
		}
	}
	Slave->maxCellTemp=maxTemp;
	Slave->minCellTemp=minTemp;
}

/**
 * @brief set min and Max Cell Temperature of System
 *  */

uint32_t set_system_min_max_temp(MASTER_CAN0_STRUCT_t* s){
	uint8_t	i;
	int8_t maxTemp=25;
	int8_t minTemp=25;
	BMS_CAN0_SLAVE_t* Slave;
	
	for(i=0;i<CAN0_MAX_NR_OF_SLAVES;i++) {
		if(s->Slave[i].SlaveConnectionState!=NOT_CONNECTED && s->Slave[i].SlaveType == SLAVE) {
			Slave=&(s->Slave[i]);
			if(Slave->maxCellTemp > maxTemp) {
				maxTemp=Slave->maxCellTemp;
			}
			if(Slave->minCellTemp < minTemp) {
				minTemp=Slave->minCellTemp;
			}
		}
	}
	s->maxCellTemp=maxTemp;
	s->minCellTemp=minTemp;
}

uint32_t set_system_min_max_heatsink_temp(MASTER_CAN0_STRUCT_t* s) {
	uint8_t i;
	int8_t maxTemp=25;
	int8_t minTemp=25;
	BMS_CAN0_SLAVE_t* Slave;
	
	for(i=0;i<CAN0_MAX_NR_OF_SLAVES;i++) {
		if(s->Slave[i].SlaveConnectionState!=NOT_CONNECTED &&s->Slave[i].SlaveType == SLAVE) {
			Slave=&(s->Slave[i]);
			if(Slave->HeatSinkTemp > maxTemp) {
				maxTemp=Slave->HeatSinkTemp;
			}
			if(Slave->HeatSinkTemp < minTemp) {
				minTemp=Slave->HeatSinkTemp;
			}
		}
	}
	s->maxHeatSinkTemp=maxTemp;
	s->minHeatSinkTemp=minTemp;
	
	return 0;
}

/**
 * @brief calculate Voltage of System by adding block voltages
 */
uint32_t calc_system_voltage(MASTER_CAN0_STRUCT_t* s) {
	uint32_t systemVoltage=0;
	uint8_t i=0;
	for(i=0;i<CAN0_MAX_NR_OF_SLAVES;i++) {
		if(s->Slave[i].SlaveConnectionState!=NOT_CONNECTED && s->Slave[i].SlaveType == SLAVE ) {
			systemVoltage += s->Slave[i].BlockVoltage;
		}
	}
	return systemVoltage;
}

/**
 * @bief calculate SOC by simple coulomb counting
 */
void calc_system_SoC(MASTER_CAN0_STRUCT_t* s) {
	s->StateOfCharge = s->StateOfCharge - s->UI_Board.Ibatt*10 *200; // t=200ms ibatt in 10mA steps
}

/**
 * @brief convert inverter data into correct data types
 */
void refresh_inverter_tx_data(MASTER_CAN0_STRUCT_t* s) {
	BMS_CAN1_INVERTER_TX* inv=&(s->inverter.txStruct);
	inv->Values.batteryCapacity.value=36.0;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryCapacity.value));
	inv->Values.batteryCurrent.value=( (float)(s->UI_Board.Ibatt) )/100 ;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryCurrent.value));
	inv->Values.batterySOC.value=s->SoC_estimator.SoC_percentage_smooth;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batterySOC.value));
	inv->Values.batterySOCtarget.value=(float)-1.0;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batterySOCtarget.value));
	inv->Values.batterySOH.value=(float)1.0;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batterySOH.value));
	inv->Values.batteryStatus.byte6=0;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryStatus.byte6));
	inv->Values.batteryTemperature.value=(float)s->maxCellTemp;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryTemperature.value));
	inv->Values.batteryVoltage.value=( (float)(s->systemVoltage)) /1000.0;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryVoltage.value));
	inv->Values.maxBatteryChargeCurrent.value=s->SoC_estimator.MaxBatteryChargeCurrent;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.maxBatteryChargeCurrent.value));
	inv->Values.maxBatteryChargeVoltage.value=s->startupConfig.maxBatteryVoltage;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.maxBatteryChargeVoltage.value));
	inv->Values.maxBatteryDischargeCurrent.value=s->SoC_estimator.MaxBatteryDischargeCurrent;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.maxBatteryDischargeCurrent.value));
	inv->Values.minBatteryDischargeVoltage.value=s->startupConfig.minBatteryVoltage;
	shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.minBatteryDischargeVoltage.value));
	
	if(s->relayState.HS_closed == TRUE && s->relayState.LS_closed == TRUE && s->relayState.PRECHARGE_closed == TRUE) {
		inv->Values.batteryModeExtra.value = 0;
		
	}
	else {
		inv->Values.batteryModeExtra.value = 1;
		shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryModeExtra.value));
	}
	//inv->Values.batteryMode.value=(uint32_t)(s->RunMode);
	//shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryMode.value));
}

void shuffle_lsb_msb_can1(uint8_t* value) {
	uint8_t tempValue[4];
	tempValue[3]=value[0];
	tempValue[2]=value[1];
	tempValue[1]=value[2];
	tempValue[0]=value[3];
	
	value[0]=tempValue[0];
	value[1]=tempValue[1];
	value[2]=tempValue[2];
	value[3]=tempValue[3];
}


uint8_t check_if_all_values_are_initialized(MASTER_CAN0_STRUCT_t* s) {
	uint8_t slaveNr;
	uint8_t cellNr;
	for(slaveNr=0;slaveNr<CAN0_MAX_NR_OF_SLAVES-1;slaveNr++){
		if(s->Slave[slaveNr].SlaveConnectionState != NOT_CONNECTED) {
			for(cellNr=0;cellNr<MAX_SLAVE_CELLS;cellNr++) {
				if(s->Slave[slaveNr].CellConnectionState[cellNr]==CELL_CONNECTED) {
					if(s->Slave[slaveNr].CellVoltage[cellNr] == 0xffff) {
						return FALSE;
					}
				}
				if(s->Slave[slaveNr].TempSensConnectionState[cellNr] == TEMP_SENSOR_CONNECTED) {
					if(s->Slave[slaveNr].CellTemp[cellNr] == -1) {
						return FALSE;
					}
				}
			}
		}
		
	}
	return TRUE;
}

/**
 * @brief Handles communication with Slave-Boards over CAN0 interface
 * @param	s pointer to state variable
 * @param	time	current timestamp in ms
 * 
 * Master_CAN0_fsm is a finite state machine which handles the commuinication between Master and Slave boards.
 * It requests Data from the Slaves by sending an Request telegram, and saves the received data in the
 * provided MASTER_CAN0_STRUCT. It records CAN BUS Errors and hands these information to the Master_CAN0_ERROR_fsm. 
 */	
uint16_t Master_CAN0_fsm(MASTER_CAN0_STRUCT_t* s,uint32_t time) {
	CAN_CONFIG *config;
	int8_t can_state=CAN_OK;
	uint8_t data_state=0;
	uint8_t ui_state=FALSE;
	switch(s->FsmState) {
		case INIT:
			s->slaveSelect=0;
			s->cycleTimestamp=time;
			s->FsmState=CHECK_IF_SLAVE_ACTIVE;
			s->cycleCounter++;
			return TRUE;
		break;
		case CHECK_IF_SLAVE_ACTIVE:
			// transmitt data to Inverter
				if(s->SoC_initialized==TRUE && s->allValuesInitialized ==TRUE) {
					//Master_CAN1_Inverter_fsm( s,&(s->CAN1_fsmStruct)) ;
					Master_CAN1_select_comm_mode ( s,&(s->CAN1_fsmStruct)) ;
				}
				// Update Master temp sensor
				readMasterTempSensorFsm(s);
			s->timestamp=Global_1msCounter;
			if(s->Slave[s->slaveSelect].SlaveConnectionState == NOT_CONNECTED) {
				s->FsmState=WAIT_FOR_NEXT_SLAVE_TIMESLOT;
				s->slaveSelect++;		// ignore and go to next slave
				if(s->slaveSelect>=CAN0_MAX_NR_OF_SLAVES) {
					s->slaveSelect=0;
					s->FsmState=WAIT_FOR_NEXT_COMMUNICATION_CYCLE;
				}
				return TRUE;
			}
			else{
				s->Slave[s->slaveSelect].SlaveTelegramsRecFlag=0;	// no Telegrams recoredet yet
				s->FsmState=SEND_REQUEST_TELEGRAM;
				
				return TRUE;
			}
		break;	
		case SEND_REQUEST_TELEGRAM:
			s->transmission_pending=TRUE;
			CAN0_tx_send_request_telegram(&(s->Slave[s->slaveSelect]),s->Slave[s->slaveSelect].MasterAliveCnt);
			s->Slave[s->slaveSelect].MasterAliveCnt++;
			if(s->Slave[s->slaveSelect].MasterAliveCnt >=CAN0_NR_OF_TELEGRAMS) {
				s->Slave[s->slaveSelect].MasterAliveCnt=0;
			}
			
			if(s->Slave[s->slaveSelect].SlaveType==SLAVE) {
				s->tempSlave=s->Slave[s->slaveSelect];
			}
			else {
				s->tempSlave=s->Slave[s->slaveSelect];
				s->temp_UI_Board=s->UI_Board;
			}
			s->FsmState=WAIT_FOR_SLAVE_RESPONSE;
			return TRUE;
		break;
		case WAIT_FOR_SLAVE_RESPONSE:
			config= s->tempSlave.TxMailbox_ptr->p_CAN_Config;
			//can_state=CAN_Check_error_Register(config);
			if(s->tempSlave.SlaveType==SLAVE) {
				if(s->tempSlave.SlaveConnectionState == CONNECTED) {
					// real slave with real Sensors
					CAN0_check_if_slave_rec(&(s->tempSlave));
				}
				else if(s->tempSlave.SlaveConnectionState == DEBUG_DATA_SIMULATED) {
					// real slave with simulated Sensors
					CAN0_DEBUG_data_check_if_slave_rec((&s->tempSlave),&(gDUMMY_data_struct.Slave[s->slaveSelect]) );
				}
				else{
					// simulated Slave
					CAN0_DEBUG_slave_check_if_slave_rec((&s->tempSlave),&(gDUMMY_data_struct.Slave[s->slaveSelect]) );
				}
				
				//all Telegrams received
				if(s->tempSlave.SlaveTelegramsRecFlag==CAN0_ALL_TELEGRAMS_REC ) {
					//s->slaveSelect++;				
					if(can_state == CAN_OK) {
						// all telegrams received => reset error counter
						if(s->slaveSelect == 3) {
							s->FsmState= CHECK_CAN_DATA;
						}
						s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt=0;
						s->FsmState= CHECK_CAN_DATA;
						return TRUE;
					}
					else {
						s->FsmState =HANDLE_CAN_ERROR;
						return TRUE;
					}
				}

				//timeout
				else if(s->timestamp + CAN0_TIMEOUT_MS <=Global_1msCounter) {
					s->FsmState =HANDLE_CAN_ERROR;
					return TRUE;
				}
				// wait
				else {
					s->FsmState =WAIT_FOR_SLAVE_RESPONSE;
					return TRUE;				
				}
			}
			else {
				
				
				if(s->tempSlave.SlaveConnectionState == CONNECTED) {
					// real UI with real Sensors
					ui_state=CAN0_check_if_UI_Board_rec( &(s->tempSlave) ,&(s->temp_UI_Board));
				}
				else if(s->tempSlave.SlaveConnectionState == DEBUG_DATA_SIMULATED) {
					// real UI with simulated Sensors
					ui_state=CAN0_DEBUG_data_check_if_UI_Board_rec(&(s->tempSlave),
							&(gDUMMY_data_struct.Slave[s->slaveSelect]),
							&(s->temp_UI_Board),
							&(gDUMMY_data_struct.UI_Board));
				}
				else{
					// simulated UI
					ui_state=CAN0_DEBUG_slave_check_if_UI_Board_rec(&(s->tempSlave),
							&(gDUMMY_data_struct.Slave[s->slaveSelect]),
							&(s->temp_UI_Board),
							&(gDUMMY_data_struct.UI_Board));
				}
				
				if(ui_state==TRUE) {
					//s->slaveSelect++;
					if(can_state==CAN_OK) {
						s->FsmState= CHECK_CAN_DATA;
						return TRUE;
					}
					else {
						s->FsmState =HANDLE_CAN_ERROR;
						return TRUE;
					}
					//return TRUE;					
				}
				//timeout
				else if(s->timestamp + CAN0_TIMEOUT_MS <=time) {
					s->FsmState =HANDLE_CAN_ERROR;
					return TRUE;
				}
				// wait
				else {
					s->FsmState =WAIT_FOR_SLAVE_RESPONSE;
					return TRUE;				
				}				
			}
		break;
		case CHECK_CAN_DATA:
				// check if rx data is correct
			
			if(s->tempSlave.SlaveType ==SLAVE ) {
				
				s->ErrorFlags=check_slave_data(s,&(s->Slave[s->slaveSelect]),
						&(s->tempSlave),
						BMS_SLAVE_MAX_TEMP,
						BMS_ERROR_THRESHOLD_T_DISCHARGE_MAX,
						BMS_SLAVE_MIN_TEMP,
						BMS_ERROR_THRESHOLD_T_DISCHARGE_MIN,
						BMS_SLAVE_MAX_CELL_VOLTAGE,
						BMS_SLAVE_MIN_CELL_VOLTAGE);

				if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_ALIVE_TIMEOUT) {
					s->FsmState =SHUT_DOWN_BMS;
					return TRUE;
				}
				
				if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_OVER_VOLTAGE) {
					s->FsmState =SHUT_DOWN_BMS;
					return TRUE;
				}		
				if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_UNDER_VOLTAGE) {
					s->FsmState =SHUT_DOWN_BMS;
					return TRUE;
				}	
				if((s->ErrorFlags & BMS_SLAVE_DATA_ERROR_TEMP_LIMIT) && (s->allValuesInitialized == TRUE)) {
					s->FsmState =SHUT_DOWN_BMS;
					return TRUE;
				}
				if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_HEAT_SINK_LIMIT) {
					s->FsmState =SHUT_DOWN_BMS;
					return TRUE;
				}
				if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_BOARD_ELECTRONIC) {
					s->FsmState =SHUT_DOWN_BMS;
					return TRUE;
				}
				else {
					// everything ok
					
				}
				
				
				
			
				
			}
			else {
				data_state=check_UI_data(&(s->Slave[s->slaveSelect]),
						&(s->tempSlave),
						&(s->UI_Board),
						&(s->temp_UI_Board));	
				
				if(s->allValuesInitialized==FALSE) {
					s->allValuesInitialized=check_if_all_values_are_initialized(s);
				}
				

				
				// Check for "Soft" Errors and set Error states
				

				
				
			}
			s->transmission_pending=FALSE;
			
			s->FsmState= DO_CALCULATIONS;
			return TRUE;
		break;
		case DO_CALCULATIONS:
			// calculate SoC SoH ?
			if(s->Slave[s->slaveSelect].SlaveType==SLAVE) {
				// calculate Slave Voltage
				s->Slave[s->slaveSelect].BlockVoltage=calc_block_voltage(&(s->Slave[s->slaveSelect]));
				// set min max Temp
				set_block_min_max_temp(&(s->Slave[s->slaveSelect]));
				// set min max Voltage
				calc_min_max_voltage_slave(&(s->Slave[s->slaveSelect]));
				
				s->slaveSelect++;
				s->FsmState=WAIT_FOR_NEXT_SLAVE_TIMESLOT;
				return TRUE;
			}
			else {
				
				
				
				// UI-Platine
				// calc SoC
				s->systemVoltage=calc_system_voltage(s);
				calc_min_max_voltage_system(s);
				set_system_min_max_temp(s);
				// update UI FIFO
				popUIFiFo(s); 
				
				BMS_Set_Error_Check_voltage_inconsitency(s);
				
				// check if System voltage is too high
				if(s->allValuesInitialized ==TRUE) {
					// Check Umin 1 Umin2 Umin3
					BMS_Set_Error_check_Voltage_level_min(s);
					// Check Umax 1 and Umax 2
					BMS_Set_Error_check_Voltage_level_max(s) ;
					BMS_Set_Error_check_System_voltage_level_max(s);
					
					// check if CHECK Imax 
					BMS_Set_Error_Check_derating(s); 
					
					
					// make balancing decisions
					Master_Balancer_fsm(s);
				}
				// if in Winter MOde get SoC from FRAM
//				if(s->SoC_initialized==TRUE && s->allValuesInitialized ==FALSE && s->RunMode== RUN_MODE_WINTER) {
//					bms_SoC_init_estimator_FRAM(&(s->SoC_estimator), s->maxCellVoltage);
//				}
				// calculate SoC of higest and Lowest Cell
				if(s->SoC_initialized==FALSE && s->allValuesInitialized ==TRUE) {
					set_system_min_max_heatsink_temp(s);
					//set initial SoC
					if(s->startupConfig.state.Bit.SOC_Initialized) {
						// get initial SOC From FRAM
						 bms_SoC_init_estimator_FRAM(&(s->SoC_estimator), s->maxCellVoltage);
					}
					else {
						bms_SoC_init_estimator(&(s->SoC_estimator), s->maxCellVoltage) ;
					}
					initSoCFifo(s);
					s->SoC_initialized=TRUE;
					s->FsmState=RUNNING_MODE_FSM;
				}
				else if(s->SoC_initialized==TRUE && s->allValuesInitialized ==TRUE) {
					set_system_min_max_heatsink_temp(s);
					
					// calc SoC 
					
					while(s->SoC_estimator.state != BMS_SOC_READY) {
						bms_SoC_running_fsm( &(s->SoC_estimator),s->UI_Board.Ibatt*10 ,s->maxCellVoltage,s->minCellVoltage,s->minCellTemp,s->maxCellTemp); 
					}	
					s->SoC_estimator.state = BMS_SOC_IDLE   ;		
					
					// if soc is at 100% set SoC initialized Flag
					if(s->SoC_estimator.SoC_percentage_smooth > 0.9999) {
						s->startupConfig.state.Bit.SOC_Initialized=1;
						write_fram_set_startup_state(s);
					}
					// write SoC to FRAM
					else if(s->startupConfig.state.Bit.SOC_Initialized==1) {
						write_fram_set_SoC(s->SoC_estimator.SoC_percentage_smooth);
					}
					s->slaveSelect=0;
					
					// transmitt data to Inverter
					if(s->SoC_initialized==TRUE && s->allValuesInitialized ==TRUE) {
						refresh_inverter_tx_data(s);
						//Master_CAN1_Inverter_fsm( s,&(s->CAN1_fsmStruct)) ;
					}
					// set running Mode
					
					// update inverter state
					BMS_RCT_Inverter_fsm (s);
					s->FsmState=RUNNING_MODE_FSM;
					return TRUE;
				}
				else {
					// nothing happend yet
					s->FsmState=RUNNING_MODE_FSM;
					return TRUE;
				}
	
			}
			return TRUE;
		break;
		case RUNNING_MODE_FSM:
			// set running Mode
			RunningModeFSM(s) ;
			s->FsmState=WAIT_FOR_NEXT_COMMUNICATION_CYCLE;
			return TRUE;
		break;
		case HANDLE_CAN_ERROR:
			// delete interrupt flags
			CAN0_clear_all_interrupt_flags();
				// handle CAN Errors
			config= s->tempSlave.TxMailbox_ptr->p_CAN_Config;
			//can_state=CAN_Check_error_Register(config);			
			// all telegrams received, can telegrams disturbed
			if(s->tempSlave.SlaveTelegramsRecFlag==CAN0_ALL_TELEGRAMS_REC ) {
				// Telegram values could be disturbed => reject all received Data
				// Don't use newly received data => ignore tempSlave
				s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt++;
				if(s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt >=CAN0_MAX_NR_OF_FAILED_COM) {
					s->FsmState=SHUT_DOWN_BMS;
					
					//write Error
					ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_CAN_ERROR,0,BMS_ERROR_CLASS_2);
					return TRUE;
				}
				s->FsmState=DO_CALCULATIONS;
				return TRUE;
				
			}
			// telegrams missing, CAN Channel Ok
			else{
				if(can_state == CAN_OK) {
					// CAN BUS OK, Slave is not reacting
					// Don't use newly received data
					s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt++;
					if(s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt >=CAN0_MAX_NR_OF_FAILED_COM) {
						//write Error
						ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_CAN_ERROR,0,BMS_ERROR_CLASS_2);
						s->FsmState=SHUT_DOWN_BMS;
						s->reset_test_timestamp=Global_1msCounter;
						return TRUE;
					}
					s->FsmState=DO_CALCULATIONS;
					return TRUE;				
				}
				else{
					// CAN BUS ERROR, telegrams not coming thought
					// Don't use newly received data
					s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt++;
					if(s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt >=CAN0_MAX_NR_OF_FAILED_COM) {
						//write Error
						ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_CAN_ERROR,0,BMS_ERROR_CLASS_2);
						s->reset_test_timestamp=Global_1msCounter;
						s->FsmState=SHUT_DOWN_BMS;
						return TRUE;
					}
					s->FsmState=DO_CALCULATIONS;
					return TRUE;
				}
			}

			return TRUE;
		break;
		case WAIT_FOR_NEXT_SLAVE_TIMESLOT:
			// next timesolt ready
			
			if(s->timestamp +CAN0_RASTER_MS <= time) {
				s->FsmState= CHECK_IF_SLAVE_ACTIVE;
				return TRUE;
				}
			//wait
			else{
				s->FsmState=WAIT_FOR_NEXT_SLAVE_TIMESLOT;
				return TRUE;
			}
		break;
		case SEND_RECEIVE_INVERTER_DATA:
			// send data to inverter and Wait for response
			//CAN1_tx_Data_to_Inverter(time,&(s->inverter.txStruct));
			//request DC INPUT VOLTAGE
			//CAN1_request_float_value(Global_1msCounter,&(s->inverter.rxStruct.DCinputA_power),CAN1_RX_DC_INPUT_A_VOLTAGE);
			s->startCan1Comm=TRUE;
			s->FsmState=WAIT_FOR_NEXT_COMMUNICATION_CYCLE;
			return TRUE;	
		break;	
		case WAIT_FOR_NEXT_COMMUNICATION_CYCLE:
			if(s->cycleTimestamp +CAN0_COMM_CYCLE_MS <= time) {
				s->FsmState= INIT;
				return TRUE;
				}
			else {
				s->FsmState=WAIT_FOR_NEXT_COMMUNICATION_CYCLE;
				return TRUE;
			}
			return TRUE; 	
		break;
		case SHUT_DOWN_BMS:
				// Something went horribly wrong, turn off system
			SwitchRelais( LS_RELAIS, 0);
			SwitchRelais( PRE_CHARGE_RELAIS, 0);
			SwitchRelais( HS_RELAIS, 0);
			s->relayState.HS_closed=FALSE;
			s->relayState.LS_closed=FALSE;
			s->relayState.PRECHARGE_closed=FALSE;
			CLEAR_OUTPIN(PIN_REGNR_LED4);	// set LED4 to 0 to indicate that an Error has occured 
			
			//write_fram_word(BMS_STARTUP_ERROR_MODE_3,3,BMS_STARTUP_MODE_ADDR);
			// go to Error	Mode
			
			// continue communication cycles
			s->FsmState=DO_CALCULATIONS;
			
			return TRUE;
		break;
		default:
			return FALSE;
		break;
	}
	return FALSE;
}
	



uint16_t init_master_operation_fsm(BMS_MASTER_OPERATION_t* opFsm) {
	opFsm->FsmState=MASTER_OPERATION_INIT;
	opFsm->timestamp=0;

	return TRUE;
}




uint16_t Master_CAN1_fsm_init(MASTER_CAN1_STRUCT_t* can1Fsm) {
	can1Fsm->delay =3;
	can1Fsm->fsmState=CAN1_INIT;
	can1Fsm->txMsgNr=0;
	return TRUE;
}

/*
 * 
 */
uint32_t Master_CAN1_select_comm_mode (MASTER_CAN0_STRUCT_t* s,MASTER_CAN1_INVERTER_STRUCT_t* fsmStruct) {
	if(fsmStruct->slowRequestFsmRunning == TRUE) {
		// slow requests are running => wait till requests are complete
		Master_CAN1_Inverter_fsm(s,fsmStruct);
		// set fast request running flag for faast request asap
		fsmStruct->fastRequestFsmRunning=TRUE;
		return TRUE;
	}
	else if(s->Slave[s->slaveSelect].SlaveType== UI || fsmStruct->fastRequestFsmRunning==TRUE) {
		// commuincation with UI is about to begin or fast request flag is set
		// this means 250ms tick is reached => initiate fast request if possible
		Master_CAN1_Fast_request_fsm (s,fsmStruct);
		return TRUE;
	}
	else {
		// nothing special run normal fsm
		Master_CAN1_Inverter_fsm(s,fsmStruct);
		return TRUE;
	}
}
/*
 * handles request of battery current and battery voltage from inverter
 * which have to be sampled regulatly
 */
uint32_t Master_CAN1_Fast_request_fsm (MASTER_CAN0_STRUCT_t* s,MASTER_CAN1_INVERTER_STRUCT_t* fsmStruct) {
	switch(fsmStruct->fastRxState) {
		case CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT:
			// request battery current from inverter
			fsmStruct->nrOfRecCurrentSamples++;
			CAN1_send_request_telegram(CAN1_RX_BATTERY_CURRENT);
			fsmStruct->fastRequestFsmRunning=TRUE;
			fsmStruct->fastRxState=CAN1_FAST_RX_FSM_REQUEST_BATTERY_VOLTAGE;
			return TRUE;
		break;	
		case CAN1_FAST_RX_FSM_REQUEST_BATTERY_VOLTAGE:
			// readout battery current and request battery voltage
			if(CAN1_wait_for_response(&(s->inverter.rxStruct.batteryCurrent)) == TRUE ) {
				// battery current received
				pushInverterCurrentFIFO(s);
				// compare UI Current and Inverter Current
				if(fsmStruct->nrOfRecCurrentSamples > UI_CURRENT_FIFO_SIZE) {
					// BMS_Set_Error_Check_current_consitency(s); //compare current of UI with Inverter
				}
			}
			else {
				// no response in 10ms => timeout
				// go to normal communication fsm
				fsmStruct->fastRxState = CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT;
				fsmStruct->fastRequestFsmRunning=FALSE;
				return TRUE;
			}
			// request battery voltage
			CAN1_send_request_telegram(CAN1_RX_BATTERY_VOLTAGE);
			fsmStruct->fastRxState =CAN1_FAST_RX_FSM_REQUEST_COMPLETE;
			return TRUE;
		break;
		case CAN1_FAST_RX_FSM_REQUEST_COMPLETE:
			// readout voltage
			if(CAN1_wait_for_response(&(s->inverter.rxStruct.batteryVoltage)) == TRUE ) {
				// battery voltage received
			}
			else {
				// no response in 10ms => timeout
				// go to normal communication fsm
				fsmStruct->fastRxState = CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT;
				fsmStruct->fastRequestFsmRunning=FALSE;
				return TRUE;
			}		
			// fast requests done
			fsmStruct->fastRxState = CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT;
			fsmStruct->fastRequestFsmRunning=FALSE;	
			return TRUE;
		break;
	}
}



uint32_t Master_CAN1_Inverter_fsm(MASTER_CAN0_STRUCT_t* s,MASTER_CAN1_INVERTER_STRUCT_t* fsmStruct) {
	BMS_CAN1_INVERTER_TX* data = &(s->inverter.txStruct);
	BMS_CAN1_INVERTER_CELL_DATA_t txPkg;
	float* rx_ptr=&(s->inverter.rxStruct.expectedInputPower); 	// points to rx_address to sotre inverter value
	uint8_t eightBitBuff[8]= {0,0,0,0,0,0,0,0} ;
	switch(fsmStruct->fsmState) {
		case CAN1_FSM_INIT:
			// reset Message counters
			fsmStruct->highPrioMsgNr=0;
			fsmStruct->lowPrioMsgNr=0;
			fsmStruct->requestTelegramNr=0;
			fsmStruct->timeoutCyclesCnt=0;

			
			// check if all Values are initialized 
			// if yes start transmitting
			if(s->allValuesInitialized == TRUE) {
				fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
				return TRUE;
			}
			// not all values are initialized
			//=> stay in INIT state
			return TRUE;
		break;
		case CAN1_FSM_SEND_HIGH_PRIO_DATA:
			// rx process complete
			fsmStruct->slowRequestFsmRunning=FALSE;
			
			// transmit high priority data, which is
			// maximum charge Current
			// maximum Charge Voltage
			// maximum Discharge Current
			// minimum Discharge Voltage
			// battery Current
			// battery Voltage
			// Battery SoC
			// Battery Capacity
			// Battery Temperature
			// Battery SoH
			// Battery Status
			// Battery SoC Target
			
			if(fsmStruct->highPrioMsgNr == 0) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.maxBatteryChargeCurrent),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 1) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.maxBatteryChargeVoltage),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 2) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.maxBatteryDischargeCurrent),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 3) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.minBatteryDischargeVoltage),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 4) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryCurrent),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 5) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryVoltage),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 7) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batterySOC),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 8) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryCapacity),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 9) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryTemperature),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 10) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batterySOH),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 11) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batterySOCtarget),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 12) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryMode),Global_1msCounter);
			}
			else if(fsmStruct->highPrioMsgNr == 13) {
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryModeExtra),Global_1msCounter);
			}
			
			// increment high prio msg cnt
			fsmStruct->highPrioMsgNr++ ;
			
			// if all high prio msg are transmitted start transmitting low prio msg
			if(fsmStruct->highPrioMsgNr > 13) {
				fsmStruct->highPrioMsgNr=0;
				// reset error cnt to start with error 1 again
				fsmStruct->transmitErrorNrEs1=0;
				fsmStruct->transmitErrorNrEs2=0;
				fsmStruct->transmitErrorNrEs3=0;
				fsmStruct->fsmState=CAN1_FSM_SEND_ES_1;
				return TRUE;
			}
			else {
				// continue Transmitting high Prio Msg
				fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
				return TRUE;
			}
		break;
		case CAN1_FSM_SEND_ES_1:
			// send Error Calls 1 Errors
			
			if( !ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_1) && !ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_2) && ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_3) ) {
				// no Error has occured Transmitt everything ok
				CLEAR_OUTPIN(PIN_REGNR_LED4);
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryStatus),Global_1msCounter);
				fsmStruct->fsmState=CAN1_FSM_SEND_LOW_PRIO_DATA;
				return TRUE;
			}
			
			else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_3) && fsmStruct->transmitErrorNrEs3 < BMS_ERROR_ERROR_STACK_SIZE) {
				// transmitt ES 3 Errors
				// check if Error is active
				SET_OUTPIN(PIN_REGNR_LED4);
				while(s->ErrorBuffer.ES3_Error[fsmStruct->transmitErrorNrEs3].Master.active == 0){
					// Error no ,longer Active go to next entry
					fsmStruct->transmitErrorNrEs3++;
					if(fsmStruct->transmitErrorNrEs3 >=BMS_ERROR_ERROR_STACK_SIZE) {
						
						return TRUE;
					}
				}
				ErrorStackGenerateStatusPkg(eightBitBuff,(uint8_t*)&(s->ErrorBuffer.ES3_Error[fsmStruct->transmitErrorNrEs3]));
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, eightBitBuff,Global_1msCounter);
				fsmStruct->transmitErrorNrEs3++;
				return TRUE;
			}
			
			else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_2) && fsmStruct->transmitErrorNrEs2 < BMS_ERROR_ERROR_STACK_SIZE) {
				// transmitt ES 2 Errors
				// check if Error is active
				SET_OUTPIN(PIN_REGNR_LED4);
				while(s->ErrorBuffer.ES2_Error[fsmStruct->transmitErrorNrEs2].Master.active == 0){
					// Error no ,longer Active go to next entry
					fsmStruct->transmitErrorNrEs2++;
					if(fsmStruct->transmitErrorNrEs2 >=BMS_ERROR_ERROR_STACK_SIZE) {
						
						return TRUE;
					}
				}
				ErrorStackGenerateStatusPkg(eightBitBuff,(uint8_t*)&(s->ErrorBuffer.ES2_Error[fsmStruct->transmitErrorNrEs2]));
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, eightBitBuff,Global_1msCounter);
				fsmStruct->transmitErrorNrEs2++;
				return TRUE;
			}
			else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_1) && fsmStruct->transmitErrorNrEs1 < BMS_ERROR_ERROR_STACK_SIZE) {
				// transmitt ES 1 Errors
				// check if Error is active
				SET_OUTPIN(PIN_REGNR_LED4);
				while(s->ErrorBuffer.ES1_Error[fsmStruct->transmitErrorNrEs1].Master.active == 0){
					// Error no ,longer Active go to next entry
					fsmStruct->transmitErrorNrEs1++;
					if(fsmStruct->transmitErrorNrEs1 >=BMS_ERROR_ERROR_STACK_SIZE) {
						
						return TRUE;
					}					
				}
				ErrorStackGenerateStatusPkg(eightBitBuff,(uint8_t*)&(s->ErrorBuffer.ES1_Error[fsmStruct->transmitErrorNrEs1]));
				CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, eightBitBuff,Global_1msCounter);
				fsmStruct->transmitErrorNrEs1++;
				return TRUE;
			}
			else {
				fsmStruct->fsmState=CAN1_FSM_SEND_LOW_PRIO_DATA;
				return TRUE;
			}
		break;
		case CAN1_FSM_SEND_LOW_PRIO_DATA:
			// send low Priority data which is
			// Cell temperature and Cell Voltages
			generateCellInfoPkg(s, fsmStruct->lowPrioMsgNr,&txPkg);
			CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(txPkg),Global_1msCounter);
			fsmStruct->lowPrioMsgNr++ ;
			if(fsmStruct->lowPrioMsgNr >= (s->NrOfSlaves)*MAX_SLAVE_CELLS) {
				// start with cell nr 0 again
				fsmStruct->lowPrioMsgNr=0;
				fsmStruct->fsmState=CAN1_FSM_SEND_REQUEST_DATA;
				fsmStruct->requestTelegramNr=0;
				return TRUE;
			}
			fsmStruct->fsmState=CAN1_FSM_SEND_LOW_PRIO_DATA;
			return TRUE;	
		break;
		case CAN1_FSM_SEND_REQUEST_DATA:
			// request data from RCT Inverter
			// Set flag so request process cant be interrupted 
			fsmStruct->slowRequestFsmRunning=TRUE;
			if(fsmStruct->requestTelegramNr==0) {
				CAN1_send_request_telegram(CAN1_RX_TOTAL_DC_PWR);
				fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
				return TRUE;
			}
			else if(fsmStruct->requestTelegramNr==1) {
				CAN1_send_request_telegram(CAN1_RX_DC_INPUT_A_POWER);
				fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
				return TRUE;				
			}
			else if(fsmStruct->requestTelegramNr==2) {
				CAN1_send_request_telegram(CAN1_RX_DC_INPUT_B_POWER);
				fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
				return TRUE;						
			}
			else if(fsmStruct->requestTelegramNr==3) {
				CAN1_send_request_telegram(CAN1_RX_DC_INPUT_A_POWER);
				fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
				return TRUE;						
			}
			else if(fsmStruct->requestTelegramNr==4) {
				CAN1_send_request_telegram(CAN1_RX_DC_INPUT_B_POWER);
				fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
				return TRUE;						
			}
			else {
				// you should not be here
				fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
				return TRUE;
			}
		break;	
		case CAN1_FSM_WAIT_FOR_RESPONSE:
			// to be updateted for more values
			if(fsmStruct->requestTelegramNr==0) {
				rx_ptr=&(s->inverter.rxStruct.expectedInputPower);
			}
			else if(fsmStruct->requestTelegramNr==1) {
				rx_ptr=&(s->inverter.rxStruct.DCinputA_power);
			}
			else if(fsmStruct->requestTelegramNr==2)  {
				rx_ptr=&(s->inverter.rxStruct.DCinputB_power);
			}
			else if(fsmStruct->requestTelegramNr==3)  {
				// not valid anymore
				rx_ptr=&(s->inverter.rxStruct.DCinputA_power);
			}
			else {
				// not valid anymore
				rx_ptr=&(s->inverter.rxStruct.DCinputB_power);
			}
			if(CAN1_wait_for_response(rx_ptr) == TRUE ) {	
				fsmStruct->requestTelegramNr++;
				fsmStruct->receivedTelegrams++;
				if(fsmStruct->requestTelegramNr >=CAN1_NR_OF_REQUEST_TELEGRAMS) {
					fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
					fsmStruct->timeoutCyclesCnt=0;
					s->inverterState.inverterCanOnline= TRUE;
					return TRUE;
				}
				else {
					fsmStruct->fsmState=CAN1_FSM_SEND_REQUEST_DATA;
					fsmStruct->timeoutCyclesCnt=0;
					s->inverterState.inverterCanOnline= TRUE;
					return TRUE;				
				}
			}
			else{
				fsmStruct->timeoutCyclesCnt++;
			}
			
			if(fsmStruct->timeoutCyclesCnt >5) {
				// timeout
				fsmStruct->receivedTelegrams=0;
				//fsmStruct->timeoutCyclesCnt=0;
				
				// set Error
				BMS_Set_Error_CAN1_Timeout(s) ;
				// set inverter fsm to can out 
				s->inverterState.inverterCanOnline= FALSE;
				fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
				return TRUE;
			}
				// wait another 10ms for response
			return TRUE;
		break;
		default :
			// you should not be here	
			return FALSE;
		break;
			
	}
}

/*
 * @brief generate a pkg with value ID (32bit) Cell Index (8-bit) voltage (16 bit) temperature (8-bit)
 */
uint32_t generateCellInfoPkg(MASTER_CAN0_STRUCT_t* s, uint8_t cellIndex,BMS_CAN1_INVERTER_CELL_DATA_t* txPkg) {
	// collect information
	int8_t cellTemp;
	uint16_t cellVoltage;
	uint8_t SlaveNr;
	uint8_t cellNr;
	uint8_t payload[4];
	
	
	uint32_t valueId=CAN1_TX_CELL_STATUS;
	
	// shuffle Bits for correct Order
	shuffle_lsb_msb_can1((uint8_t*)&valueId);
	
	SlaveNr = cellIndex/ (MAX_SLAVE_CELLS); // Slave Nr 0...14
	cellNr = cellIndex - SlaveNr * MAX_SLAVE_CELLS ;// cellNr 0... 24
	
	cellVoltage = s->Slave[SlaveNr].CellVoltage[cellNr];
	
	if(s->Slave[SlaveNr].TempSensConnectionState[cellNr] == TEMP_SENSOR_CONNECTED) {
		cellTemp = s->Slave[SlaveNr].CellTemp[cellNr] ;
	}
	else {
		// if temp sensor not connected transmit -51 deg
		cellTemp = -51 ;
	}
	payload[0]=cellIndex;
	payload[1]= cellVoltage >> 8;
	payload[2]= cellVoltage & 0xFF;
	payload[3]= (uint8_t)cellTemp;
	
	shuffle_lsb_msb_can1((uint8_t*)&(payload[0]));
	
	txPkg->valueId=valueId;
	txPkg->payload= (payload[0] << 24) + (payload[1] << 16) + (payload[2] << 8) + payload[3] ;
}


uint32_t Master_Balancer_fsm(MASTER_CAN0_STRUCT_t* s) {
	switch(s->balancerState) {
		case BMS_BALANCE_INIT:
				if(s->allValuesInitialized== TRUE && (s->maxCellVoltage >=BMS_SLAVE_MAX_BALANCE_VOLTAGE)) {
					// cellvoltage of system too high => no Balancing
					s->balancerState=BMS_BALANCE_OFF;
				}
				else if(s->SoC_estimator.SoC_percentage_smooth <= BMS_SLAVE_MIN_BALANCE_SOC) {
					// SoC under 80% do not balance
					s->balancerState=BMS_BALANCE_OFF;
				}
				else if(s->maxHeatSinkTemp >= BMS_SLAVE_MAX_BALANCE_HEATSINK_TEMP) {
					// Heatsink too hot => do not balance
					s->balancerState=BMS_BALANCE_OFF;
				}
				else if(s->allValuesInitialized== TRUE && (s->UI_Board.Ibatt > BMS_SLAVE_BATTERY_CHARGE_THERESOLD) ) {
					// battery discharging => no Balancing
					s->balancerState=BMS_BALANCE_OFF;
				}
				else if(s->allValuesInitialized== TRUE && (s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD)) {
					// ready for balancing
					s->balancerState=BMS_BALANCE_GET_VOLTAGE;
				}

				else {
					// do nothing
				}
			
			return TRUE;
		break;
		case BMS_BALANCE_GET_VOLTAGE:
				// decide Which cells to balance
				if(s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD) {
					set_balancer(s);
					s->balancerState=BMS_BALANCE_BALANCE_CELLS;
				}
				else {
					set_balancer_off(s) ;
					s->balancerState=BMS_BALANCE_OFF;
				}
			return TRUE;
		break;
		case BMS_BALANCE_BALANCE_CELLS:
			// turn off balancing to obtain uneffected cell voltages	
			if(s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD) {
				set_balancer_off(s) ;
				s->balancerState=BMS_BALANCE_COOL;
			}
			else {
				set_balancer_off(s) ;
				s->balancerState=BMS_BALANCE_OFF;
			}
			return TRUE;
		break;
		case BMS_BALANCE_COOL:
			// uneffected cell voltages are now available
			if(s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD) {
				s->balancerState=BMS_BALANCE_INIT;
			}
			else {
				set_balancer_off(s) ;
				s->balancerState=BMS_BALANCE_OFF;
			}			
			return TRUE;
		break;
		case BMS_BALANCE_OFF:
				set_balancer_off(s) ;
			if(s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD) {
				s->balancerState=BMS_BALANCE_INIT;
			}	
			s->balancerState=BMS_BALANCE_INIT;
			return TRUE;
		break;	
		
			
	
	}
	
}

uint8_t get_nr_of_connected_slaves(MASTER_CAN0_STRUCT_t* s){
	uint8_t i=0;
	uint8_t nr=0;
	for(i=0;i<CAN0_MAX_NR_OF_SLAVES-1;i++) {
		if(s->Slave[i].SlaveConnectionState== CONNECTED) {
			nr++;
		}
	}
	return nr;
}

uint32_t RunningModeFSM(MASTER_CAN0_STRUCT_t* s){

	
	// check for active Error States
	if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_3) || s->RunMode.ErrorState3fsm != ES3_FSM_INIT) {
		// handle Error Class 3
		BMS_Master_ES3_fsm(s);
		return TRUE;
	}
	else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_2) || s->RunMode.ErrorState2fsm != ES2_FSM_INIT) {
		// handle Error Class 2
		BMS_Master_ES2_fsm(s);
		return TRUE;
	}
	else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_1) || s->RunMode.ErrorState1fsm != ES1_FSM_INIT) {
		// handle Error Class 1
		BMS_Master_ES1_fsm(s);
		return TRUE;
	}
	
	else {
		// normal operation
		OPModeFSM( s );
	return TRUE;
	}

}

uint32_t OPModeFSM(MASTER_CAN0_STRUCT_t* s){
	float SoC=s->SoC_estimator.SoC_percentage_smooth;
	switch(s->RunMode.OperationMode) {
		case OP_MODE_INIT:
			// just jump to checkup startup conditions
			s->RunMode.OperationMode=OP_MODE_CHECK_STARTUP_CONDITIONS;
			
			CLEAR_OUTPIN(PIN_REGNR_LED4);
			return TRUE;
		break;
		case OP_MODE_CHECK_STARTUP_CONDITIONS:
			if(s->allValuesInitialized==TRUE) {
				// all values initalized and no error occured
				// => Startup conditions apply => start startup
				s->RunMode.OperationModeTimestamp=Global_1msCounter;
				s->RunMode.OperationMode=OP_MODE_SET_PRECHARGE_RELAY;
				s->RunMode.onCounter=0;
				return TRUE;
			}
			else {
				// wait till all values are initialiezd
				s->RunMode.OperationMode=OP_MODE_CHECK_STARTUP_CONDITIONS;
				return TRUE;
			}
		break;
		case OP_MODE_SET_PRECHARGE_RELAY:
			// set Low Side and Precharge Relais
			s->relayState.LS_closed=TRUE;
			s->relayState.PRECHARGE_closed=TRUE;
			SwitchRelais( LS_RELAIS, 1);
			SwitchRelais( PRE_CHARGE_RELAIS, 1);			
			if(s->RunMode.OperationModeTimestamp + 3000 <= Global_1msCounter) {
				s->RunMode.OperationMode=OP_MODE_SET_MAIN_RELAY;
				return TRUE;
			}
			else {
				s->RunMode.OperationMode= OP_MODE_SET_PRECHARGE_RELAY;
				return TRUE;
			}
		break;
		case OP_MODE_SET_MAIN_RELAY:
			// Switch Highside relais
			SwitchRelais( HS_RELAIS, 1);
			s->relayState.HS_closed=TRUE;
			s->RunMode.OperationMode=OP_MODE_NORMAL;
			return TRUE;
		break;
		case OP_MODE_NORMAL:
			// do nothing until SoC becomes low
			s->RunMode.onCounter++;
			if ( SoC < BMS_SOC_LOW_MARK) {
				s->RunMode.OperationMode=OP_MODE_SOC_LOW;
				return TRUE;
			}
			else {
				s->RunMode.OperationMode=OP_MODE_NORMAL;
				return TRUE;
			}				
			return TRUE;
		break;
		case OP_MODE_SOC_LOW:
			s->RunMode.onCounter++;
			// do nothing until SoC becomes high again
			if ( SoC > BMS_SOC_LOW_MARK) {
				s->RunMode.OperationMode=OP_MODE_NORMAL;
				return TRUE;
			}
			else {
				s->RunMode.OperationMode=OP_MODE_SOC_LOW;
				return TRUE;
			}	
		break;	
		default:
			// something went horribly wrong
			return FALSE;
		break;
	}
	
}
/*
 * @brief Statemachine which handles Class 1 Errors
 */

uint32_t BMS_Master_ES1_fsm(MASTER_CAN0_STRUCT_t* s){
	switch (s->RunMode.ErrorState1fsm) {
		case ES1_FSM_INIT:
			s->RunMode.ErrorState1fsm=ES1_FSM_CHECK_IF_ERROR_VALID;
			return TRUE;
		break;
		case ES1_FSM_CHECK_IF_ERROR_VALID:
			// Try to clear Error
			BMS_Clear_Error_Buffer(s,BMS_ERROR_CLASS_1);

			
			if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_1)) {
				// Error still active
				// Don't do anything
				
			}
			else {
				// No Error
				s->RunMode.ErrorState1fsm=ES1_FSM_ERROR_REVOKED;
			}
			return TRUE;
		break;
		case ES1_FSM_ERROR_REVOKED:
			// No More Errors apply startup system again
			s->RunMode.OperationMode=OP_MODE_INIT;
			// set Fsm Back to INIT
			s->RunMode.ErrorState1fsm=ES1_FSM_INIT;
			return TRUE;
		break;
	}
}

uint32_t BMS_Master_ES2_fsm(MASTER_CAN0_STRUCT_t* s){
	switch(s->RunMode.ErrorState2fsm) {
		case ES2_FSM_INIT:
			// save time for Timeout timer
			s->RunMode.ErrorState2Timestamp=Global_1msCounter;
			if(s->ErrorBuffer.ES2_New_Error==FALSE) {
				// System had power cycle, Try to fix Error
				s->RunMode.ErrorState2fsm=ES2_FSM_CHECK_IF_ERROR_VALID;
			}
			else {
				// no restart => wait timeout then kill system
				s->RunMode.ErrorState2fsm=ES2_FSM_WAIT_FOR_SHUTDOWN;
			}
			return TRUE;
		break;
		case ES2_FSM_CHECK_IF_ERROR_VALID:
			// Try to clear Error
			BMS_Clear_Error_Buffer(s,BMS_ERROR_CLASS_2);
			if(!ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_2)) {
				// all Errors cleared
				s->RunMode.ErrorState2fsm=ES2_FSM_ERROR_REVOKED;
			}
			else if(s->RunMode.ErrorState2Timestamp + BMS_ERROR_FSM_ES2_TIMEOUT < Global_1msCounter ) {
				// Timeout shutdown system
				s->RunMode.ErrorState2fsm=ES2_FSM_SYSTEM_SHUTDOWN;
			}
			else{
				// do nothing an wait for timeout or error to be cleared
			}
			return TRUE;
		break;
		case ES2_FSM_WAIT_FOR_SHUTDOWN:
			// wait timeout
			if(s->RunMode.ErrorState2Timestamp + BMS_ERROR_FSM_ES2_TIMEOUT < Global_1msCounter ) {
				// timeout
				s->RunMode.ErrorState2fsm=ES2_FSM_SYSTEM_SHUTDOWN;
				return TRUE;
			}
			else {
				// wait and do nothing
				return TRUE;
			}
			return TRUE;
		break;
		case ES2_FSM_ERROR_REVOKED:
			// no more Errors in the system => Start normal Operation again
			s->RunMode.ErrorState2fsm=ES2_FSM_INIT;
			s->RunMode.OperationMode=OP_MODE_INIT;
			return TRUE;
		break;
		case ES2_FSM_SYSTEM_SHUTDOWN:
			// Turn off power Supply
			SwitchRelais( PWR_SUPPLY, 1);
			// now System should be dead
			while (1) {
				// loop for ever
				SwitchRelais( PWR_SUPPLY, 1);
			}
			
			break;
		return TRUE;
	}
}

/*
 * @brief handle error class 3
 * Todo System repair tool not implemented yet
 */
uint32_t BMS_Master_ES3_fsm(MASTER_CAN0_STRUCT_t* s) {
	switch(s->RunMode.ErrorState3fsm){
		case ES3_FSM_INIT:
			// save timestamp for timeout
			s->RunMode.ErrorState3Timestamp=Global_1msCounter;
			s->RunMode.ErrorState3fsm=ES3_FSM_CONNECT_TO_SERVICE_TOOL;
			return TRUE;
		break;
		case ES3_FSM_CONNECT_TO_SERVICE_TOOL:
			// not fully implemented yet
			// just shut down system after timeout
			if(s->RunMode.ErrorState3Timestamp + BMS_ERROR_FSM_ES3_TIMEOUT < Global_1msCounter ) {
				// Shut down System
				s->RunMode.ErrorState3fsm=ES3_FSM_SYSTEM_SHUTDOWN;
			}
			else {
				// wait
			}
			return TRUE;
		break;
		case ES3_FSM_SYSTEM_SHUTDOWN:
			// Turn off power Supply
			SwitchRelais( PWR_SUPPLY, 1);
			// now System should be dead
			while (1) {
				// loop for ever
				SwitchRelais( PWR_SUPPLY, 1);
			}
			return TRUE;
		break;
			
	
	}
}

/*
 * @brief check if connected Inverter has enough power to charge battery and recover from Wintermode 
 */

int32_t checkIfInverterHasPower(MASTER_CAN0_STRUCT_t* s) {
	if((s->inverter.rxStruct.expectedInputPower) > BMS_WINTER_MODE_RECOVER_PWR) {
		return TRUE;
	}
	else {
		return FALSE;
	}
}

/*
 * @brief read Temp sensor on master Board
 */
uint32_t readMasterTempSensorFsm(MASTER_CAN0_STRUCT_t* s) {
	switch(s->MasterTempSensState) {
		case BMS_MASTER_TEMP_SENSOR_INITIATE_MEASUREMENT:
			//  trigger measurement
			if(TempMess_triggerRead() == 0) {
				// measurement triggered got to next state
				s->MasterTempSensState=BMS_MASTER_TEMP_SENSOR_UPDATE_MEASUREMENT;
			}
			return TRUE;
		break;
		case BMS_MASTER_TEMP_SENSOR_UPDATE_MEASUREMENT:
			TempMess_update();
			if(TempMess_poll_Value(&(s->masterTemp)) == 0) {
				// readout succesfull go back to triggering measurement
				s->MasterTempSensState=BMS_MASTER_TEMP_SENSOR_INITIATE_MEASUREMENT;
			}
			return TRUE;
		break;
	}
}

/*
 * @brief clear fifos 
 */

uint32_t initUIFifo(MASTER_CAN0_STRUCT_t* s) {
	uint8_t i;
	for(i=0;i<UI_VOLTAGE_FIFO_SIZE;i++) {
		s->UI_Board.UbattFiFo[i]=0;
		s->UI_Board.SystemVoltageFiFo[i]=0;
	}
	for(i=0;i<UI_CURRENT_FIFO_SIZE;i++) {
		s->UI_Board.IbattFiFo[i]=0;
		s->UI_Board.Ibatt_Inverter_FIFO[i]=0;
	}
	return TRUE;
}

uint32_t popUIFiFo(MASTER_CAN0_STRUCT_t* s) {
	uint8_t i;
	
	for(i=UI_VOLTAGE_FIFO_SIZE-1;i>0;i--) {
		s->UI_Board.UbattFiFo[i]=s->UI_Board.UbattFiFo[i-1];
	}
	s->UI_Board.UbattFiFo[0]=s->UI_Board.Ubatt;
	
	for(i=UI_VOLTAGE_FIFO_SIZE-1;i>0;i--) {
		s->UI_Board.SystemVoltageFiFo[i]=s->UI_Board.SystemVoltageFiFo[i-1];
	}
	s->UI_Board.SystemVoltageFiFo[0]=(s->systemVoltage);
	
	for(i=UI_CURRENT_FIFO_SIZE-1;i>0;i--) {
		s->UI_Board.IbattFiFo[i]=s->UI_Board.IbattFiFo[i-1];
	}
	s->UI_Board.IbattFiFo[0]=s->UI_Board.Ibatt;
}

uint32_t pushInverterCurrentFIFO(MASTER_CAN0_STRUCT_t* s) {
	uint8_t i;
	for(i=UI_CURRENT_FIFO_SIZE-1;i>0;i--) {
		s->UI_Board.Ibatt_Inverter_FIFO[i]=s->UI_Board.Ibatt_Inverter_FIFO[i-1];
	}
	s->UI_Board.Ibatt_Inverter_FIFO[0]=s->inverter.rxStruct.batteryCurrent;
	
//	if(s->inverter.rxStruct.batteryCurrent > 100 ||  s->inverter.rxStruct.batteryCurrent < -100) {
//		// fake value
//		i++ ; // break here
//	}
	return TRUE;
}


// *** End BMS_Master.c ******************************************************