From c10a8bdf1d99f0e4e0cfb58cac8e34ba99b13bb1 Mon Sep 17 00:00:00 2001
From: David <dbulos@uwo.ca>
Date: Tue, 19 May 2026 17:03:47 -0400
Subject: [PATCH] added 50ms fault time threshold for overcurrent, overvoltage,
 and undervoltage conditions

---
 components/statemachine/statemachine.c | 38 ++++++++++++++++++++++++--
 include/config.h                       |  2 ++
 2 files changed, 37 insertions(+), 3 deletions(-)

diff --git a/components/statemachine/statemachine.c b/components/statemachine/statemachine.c
index 9acbd63..aee254b 100644
--- a/components/statemachine/statemachine.c
+++ b/components/statemachine/statemachine.c
@@ -114,6 +114,38 @@ void stateTransition(){
 void errorCheck(){
   // skip check if already in fault state
   if (moboState.currentState == FAULT) return; 
+
+  //Timer variables
+  static uint32_t overvoltage_start_time = 0;
+  static uint32_t undervoltage_start_time = 0;
+  static uint32_t overcurrent_start_time = 0;
+
+  //Initializing timer variables
+    //Overvoltage
+  if(getMaxVoltageIndex(&module, &errIndex) > OVERVOLTAGE_THRESHOLD){
+    if(overvoltage_start_time == 0){
+      overvoltage_start_time = pdTICKS_TO_MS(xTaskGetTickCount());
+    } 
+  } else {
+    overvoltage_start_time = 0;
+  }
+    //Undercurrent
+  if (getMinVoltageIndex(&module, &errIndex) < UNDERVOLTAGE_THRESHOLD && getMinVoltage() > 0){
+    if(undervoltage_start_time == 0){
+      undervoltage_start_time = pdTICKS_TO_MS(xTaskGetTickCount());
+    } 
+  } else {
+    undervoltage_start_time = 0;
+  }
+    //Overcurrent
+  if (Cursense_VtoA(analogVoltages[ANALOG_CURSENSE]) > CURRENT_LIMIT){
+    if(overcurrent_start_time == 0){
+      overcurrent_start_time = pdTICKS_TO_MS(xTaskGetTickCount());
+    } 
+  } else {
+    overcurrent_start_time = 0;
+  }  
+
   // 2 error check levels: mission mode for only critical faults, and test mode for all faults
   if(getMaxTempIndex(&module, &errIndex) > OVERTEMP_THRESHOLD){
     moboState.error = OVERTEMP;
@@ -122,21 +154,21 @@ void errorCheck(){
     moboState.errorIndex = errIndex;
     moboState.errorModule = module;
     ESP_LOGE(TAG, "Fault: OVERTEMP");
-  } else if(getMaxVoltageIndex(&module, &errIndex) > OVERVOLTAGE_THRESHOLD){
+  } else if(overvoltage_start_time!=0 && (pdTICKS_TO_MS(xTaskGetTickCount()) - overvoltage_start_time) > MAX_DEBOUNCE_TIME){
     moboState.error = OVERVOLTAGE;
     moboState.lastState = moboState.currentState;
     moboState.currentState = FAULT;
     moboState.errorIndex = errIndex;
     moboState.errorModule = module;
     ESP_LOGE(TAG, "Fault: OVERVOLTAGE");
-  } else if(getMinVoltageIndex(&module, &errIndex) < UNDERVOLTAGE_THRESHOLD && getMinVoltage() > 0){
+  } else if(undervoltage_start_time!=0 && (pdTICKS_TO_MS(xTaskGetTickCount()) - undervoltage_start_time) > MAX_DEBOUNCE_TIME){
     moboState.error = UNDERVOLTAGE;
     moboState.lastState = moboState.currentState;
     moboState.currentState = FAULT;
     moboState.errorIndex = errIndex;
     moboState.errorModule = module;
     ESP_LOGE(TAG, "Fault: UNDERVOLTAGE");
-  } else if (Cursense_VtoA(analogVoltages[ANALOG_CURSENSE]) > CURRENT_LIMIT){
+  } else if (overcurrent_start_time!=0 && (pdTICKS_TO_MS(xTaskGetTickCount()) - overcurrent_start_time) > MAX_DEBOUNCE_TIME){
     moboState.error = OVERCURRENT;
     moboState.lastState = moboState.currentState;
     moboState.currentState = FAULT;
diff --git a/include/config.h b/include/config.h
index fdfef0a..8c4b340 100644
--- a/include/config.h
+++ b/include/config.h
@@ -13,5 +13,7 @@
 #define MAX_CAN_TIMEOUT 10000
 #define PRECHARGE_MINDELAY 5000
 
+#define MAX_DEBOUNCE_TIME 50 //50ms
+
 #define MISSION_MODE // only critical faults, for racing
 #define INVERTER_PRECHARGE // precharge voltage from inverter
\ No newline at end of file