[Debug] - Add timer start/stop notices (#143)

* Added CAN messages for timer start/stop

* Added CAN message for fault timers

* Formatting

* Changed format of fault timer CAN

* Changed fault_code to uint32_t

* Changed fault timer can id

* Removed calls to old fault timer CAN function

* Updated Embedded-Base submodule

Core/Inc/can_handler.h

@@ -25,6 +25,7 @@
 #define FAULT_CANID	    0x703
 #define NOISE_CANID	    0x88
 #define DEBUG_CANID	    0x702
+#define FAULT_TIMER_CANID   0x6FF
 
 typedef struct {
 	uint32_t prev_tick;
@@ -45,6 +46,7 @@ typedef enum {
 	FAULT,
 	NOISE,
 	DEBUG,
+	FAULT_TIMER,
 	RL_MSG_COUNT
 } rate_lim_t;
 

Core/Inc/compute.h

@@ -185,6 +185,9 @@ void compute_send_segment_temp_message(acc_data_t *bmsdata);
 
 void compute_send_fault_message(uint8_t status, int16_t curr, int16_t in_dcl);
 
+void compute_send_fault_timer_message(uint8_t start_stop, uint32_t fault_code,
+				      uint16_t data_1);
+
 /**
  * @brief Send CAN message for debugging the car on the fly.
  * 

Core/Src/can_handler.c

@@ -96,6 +96,10 @@ void init_can_msg_config()
 	debug_msg.id = DEBUG_CANID;
 	debug_msg.len = 8; // yaml decodes this to 8 bytes
 
+	can_msg_t fault_timer_msg;
+	fault_timer_msg.id = FAULT_TIMER_CANID;
+	fault_timer_msg.len = 4;
+
 	// rl_data_t rl_discharge_data = { .msg_rate = 5000 };
 	// rl_data_t rl_charge_data = { .msg_rate = 0 };
 
@@ -112,6 +116,7 @@ void init_can_msg_config()
 	bms_can_msgs[FAULT] = fault_msg;
 	bms_can_msgs[NOISE] = noise_msg;
 	bms_can_msgs[DEBUG] = debug_msg;
+	bms_can_msgs[FAULT_TIMER] = fault_timer_msg;
 
 	// rl_data[DISCHARGE] = rl_discharge_data;
 	// rl_data[CHARGE] = rl_charge_data;
@@ -159,6 +164,9 @@ rl_data_t *get_rl_msg(uint32_t can_id)
 	case DEBUG_CANID:
 		return &rl_data[DEBUG];
 		break;
+	case FAULT_TIMER_CANID:
+		return &rl_data[FAULT_TIMER];
+		break;
 	default:
 		break;
 	}

Core/Src/compute.c

@@ -542,6 +542,30 @@ void compute_send_fault_message(uint8_t status, int16_t curr, int16_t in_dcl)
 	queue_can_msg(bms_can_msgs[FAULT]);
 }
 
+void compute_send_fault_timer_message(uint8_t start_stop, uint32_t fault_code,
+				      uint16_t data_1)
+{
+	struct __attribute__((__packed__)) {
+		uint8_t start_stop;
+		uint8_t fault_code;
+		int16_t data_1;
+	} fault_timer_msg_data;
+
+	fault_timer_msg_data.start_stop = start_stop;
+	fault_timer_msg_data.fault_code = log2(fault_code);
+	fault_timer_msg_data.data_1 = data_1;
+
+	endian_swap(&fault_timer_msg_data.fault_code,
+		    sizeof(fault_timer_msg_data.fault_code));
+	endian_swap(&fault_timer_msg_data.data_1,
+		    sizeof(fault_timer_msg_data.data_1));
+
+	memcpy(bms_can_msgs[FAULT_TIMER].data, &fault_timer_msg_data,
+	       sizeof(fault_timer_msg_data));
+
+	queue_can_msg(bms_can_msgs[FAULT_TIMER]);
+}
+
 void compute_send_voltage_noise_message(acc_data_t *bmsdata)
 {
 	struct __attribute__((__packed__)) {

Core/Src/stateMachine.c

@@ -303,13 +303,15 @@ uint32_t sm_fault_eval(fault_eval_t *index)
 		if (!fault_present) {
 			printf("\t\t\t*******Fault cleared: %s\r\n", index->id);
 			cancel_timer(&index->timer);
+			compute_send_fault_timer_message(0, index->code,
+							 index->data_1);
 			return 0;
 		}
 
 		if (is_timer_expired(&index->timer) && fault_present) {
 			printf("\t\t\t*******Faulted: %s\r\n", index->id);
-			compute_send_fault_message(2, index->data_1,
-						   index->lim_1);
+			compute_send_fault_timer_message(2, index->code,
+							 index->data_1);
 			return index->code;
 		}
 
@@ -321,10 +323,7 @@ uint32_t sm_fault_eval(fault_eval_t *index)
 	else if (!is_timer_active(&index->timer) && fault_present) {
 		printf("\t\t\t*******Starting fault timer: %s\r\n", index->id);
 		start_timer(&index->timer, index->timeout);
-		if (index->code == DISCHARGE_LIMIT_ENFORCEMENT_FAULT) {
-			compute_send_fault_message(1, index->data_1,
-						   index->lim_1);
-		}
+		compute_send_fault_timer_message(1, index->code, index->data_1);
 
 		return 0;
 	}