Added non-critical faults and included test in can_handler.c

Core/Inc/datastructs.h

@@ -58,6 +58,17 @@ typedef enum {
 } bms_fault_t;
 // clang-format on
 
+/**
+ * @brief Enuemrated possible non-critical fault codes for the BMS
+ * @note  the values increase at powers of two to perform bitwise operations on a main fault code
+ *          to set or get the error codes
+ */
+typedef enum {
+	/* non-critical cases */
+	FAILED_CAN_RECEIVAL					= 0x1,
+
+} bms_nc_fault_t;
+
 /**
  * @brief Stores critical values for the pack, and where that critical value can be found
  *
@@ -123,6 +134,23 @@ typedef struct {
 	bool is_charger_connected;
 } acc_data_t;
 
+typedef struct 
+{
+	nertimer_t timer;
+	int timeout;
+
+	int can_receivals;
+
+
+	/**
+	 * @brief Note that this is a 32 bit integer, so there are 32 max possible fault codes
+	 */
+	uint32_t fault_code;
+	uint32_t fault_status;
+
+} nc_fault_collection_t;
+
+
 /**
  * @brief Represents individual BMS states
  */

Core/Inc/stateMachine.h

@@ -48,6 +48,15 @@ uint32_t sm_fault_return(acc_data_t *accData);
  */
 uint32_t sm_fault_eval(fault_eval_t* index);
 
+ /**
+ * @brief Used to collect non-critical fault codes to append to the current status
+ * 
+ * @param nc_fault_data
+ * @param fault_code
+ * @return fault_code
+ */
+void sm_nc_fault_collect(nc_fault_collection_t *nc_fault_data);
+
 /**
  * @brief handles the state machine, calls the appropriate handler function and runs every loop functions
  * 

Core/Src/can_handler.c

@@ -1,21 +1,27 @@
 #include "analyzer.h"
 #include "ringbuffer.h"
 #include "can_handler.h"
+#include "stateMachine.h"
 
 ringbuffer_t* can1_rx_queue = NULL;
 ringbuffer_t* can2_rx_queue = NULL;
+nc_fault_collection_t* nc_fault_collection = NULL;
 
 void can_receive_callback(CAN_HandleTypeDef* hcan)
 {
 	CAN_RxHeaderTypeDef rx_header;
 	can_msg_t new_msg;
+
 	/* Read in CAN message */
 	if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, new_msg.data) != HAL_OK) {
-
+
+		nc_fault_collection->fault_code = FAILED_CAN_RECEIVAL;
+		sm_nc_fault_collect(nc_fault_collection);
 		// TODO add non crtical fault capability - could create one for failed can receieve
 		return;
 	}
-
+
+	nc_fault_collection->can_receivals += 1;
 	new_msg.len = rx_header.DLC;
 	new_msg.id	= rx_header.StdId;
 	if (hcan == &hcan1) {

Core/Src/stateMachine.c

@@ -6,6 +6,7 @@ extern UART_HandleTypeDef huart4;
 
 acc_data_t* prevAccData;
 uint32_t bms_fault = FAULTS_CLEAR;
+uint32_t bms_nc_fault = FAULTS_CLEAR;
 
 BMSState_t current_state = BOOT_STATE;
 uint32_t previousFault = 0;
@@ -291,6 +292,29 @@ uint32_t sm_fault_eval(fault_eval_t* index)
 	return 0;
 }
 
+void sm_nc_fault_collect(nc_fault_collection_t *nc_fault_data) {
+
+	bool condition;
+
+	switch (nc_fault_data->fault_code) {
+		case FAILED_CAN_RECEIVAL: condition = nc_fault_data->can_receivals == 0; break;
+		default: true;
+	}
+
+	if (!is_timer_active(&nc_fault_data->timer) && condition)
+	{
+		start_timer(&nc_fault_data->timer, nc_fault_data->timeout);
+	}
+	else {
+		if (is_timer_expired(&nc_fault_data->timer)) {
+			nc_fault_data->fault_status |= nc_fault_data->fault_code;
+		}
+		if (!condition) {
+			cancel_timer(&nc_fault_data->timer);
+		}
+	}
+}
+
 bool sm_charging_check(acc_data_t* bmsdata)
 {
 	if (!compute_charger_connected())