Merge remote-tracking branch 'origin' into 81-fault-priority

Core/Inc/can_handler.h

@@ -26,6 +26,7 @@
 #define FAULT_CANID	    0x703 // TODO: cleanup
 #define NOISE_CANID	    0x88
 #define DEBUG_CANID	    0x702
+#define FAULT_TIMER_CANID   0x6FF
 
 typedef struct {
 	uint32_t prev_tick;
@@ -47,6 +48,7 @@ typedef enum {
 	FAULT, // TODO: cleanup
 	NOISE,
 	DEBUG,
+	FAULT_TIMER,
 	RL_MSG_COUNT
 } rate_lim_t;
 

Core/Inc/compute.h

@@ -193,6 +193,9 @@ 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

@@ -100,6 +100,10 @@ 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 };
 
@@ -117,6 +121,7 @@ void init_can_msg_config()
 	bms_can_msgs[FAULT] = fault_detail_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;
@@ -164,6 +169,9 @@ 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

@@ -558,6 +558,30 @@ 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

@@ -340,28 +340,29 @@ bool sm_fault_eval(fault_eval_t *item)
 
 	if (is_timer_active(&item->timer)) {
 		if (!fault_present) {
-			printf("\t\t\t*******Fault cleared: %s\r\n", item->id);
-			cancel_timer(&item->timer);
+			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(&item->timer) && fault_present) {
-			printf("\t\t\t*******Faulted: %s\r\n", item->id);
-			// compute_send_fault_message(FAULT_STAT_FAULTED, item->data_1,
-			// 			   item->lim_1);
-			return 1;
-		} else
+		if (is_timer_expired(&index->timer) && fault_present) {
+			printf("\t\t\t*******Faulted: %s\r\n", index->id);
+			compute_send_fault_timer_message(2, index->code,
+							 index->data_1);
+			return index->code;
+		}
+
+		else
 			return 0;
 
 	}
 
-	else if (!is_timer_active(&item->timer) && fault_present) {
-		printf("\t\t\t*******Starting fault timer: %s\r\n", item->id);
-		start_timer(&item->timer, item->timeout);
-		// if (item->code == DISCHARGE_LIMIT_ENFORCEMENT_FAULT) {
-		// 	compute_send_fault_message(FAULT_STAT_TIMER_START, item->data_1,
-		// 				   item->lim_1);
-		// }
+	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);
+		compute_send_fault_timer_message(1, index->code, index->data_1);
 
 		return 0;
 	}