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50ms fault debounce #4

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50ms fault debounce #4

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38 changes: 35 additions & 3 deletions components/statemachine/statemachine.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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

@yamaan93 yamaan93 May 19, 2026

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shouldn't this say undervoltage?

@dbulos5 dbulos5 May 19, 2026

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yes

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;
Expand All @@ -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;
Expand Down
2 changes: 2 additions & 0 deletions include/config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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