Send AMS error messages

Core/Inc/can.h

@@ -5,9 +5,12 @@
 #include "stm32f3xx_hal_can.h"
 #include "stm32f3xx_hal_def.h"
 
+#include "ts_state_machine.h"
+
 #define CAN_ID_SLAVE_PANIC 0x009
 #define CAN_ID_AMS_STATUS 0x00A
 #define CAN_ID_AMS_IN 0x00B
+#define CAN_ID_AMS_ERROR 0x00C
 #define CAN_ID_SLAVE_STATUS 0x014
 #define CAN_ID_SLAVE_LOG 0x4F4
 #define CAN_ID_SHUNT_BASE 0x520
@@ -22,6 +25,7 @@
 
 void can_init(CAN_HandleTypeDef *handle);
 HAL_StatusTypeDef can_send_status();
+HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg);
 
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
 

Core/Inc/shunt_monitoring.h

@@ -6,6 +6,7 @@
 #include "stm32f3xx_hal.h"
 
 #define THRESH_OVERCURRENT 300000 // mA
+#define THRESH_OVERTEMP 1000      // 1/10 °C
 
 typedef struct {
   int32_t current;

Core/Inc/ts_state_machine.h

@@ -29,6 +29,14 @@ typedef enum {
   TS_CHARGING
 } TSState;
 
+typedef enum {
+  TS_ERRORKIND_NONE = 0x00,
+  TS_ERRORKIND_SLAVE_TIMEOUT = 0x01,
+  TS_ERRORKIND_SLAVE_PANIC = 0x02,
+  TS_ERRORKIND_SHUNT_TIMEOUT = 0x03,
+  TS_ERRORKIND_SHUNT_OVERCURRENT = 0x04,
+  TS_ERRORKIND_SHUNT_OVERTEMP = 0x05
+} TSErrorKind;
 #define TS_ERROR_SOURCE_SHUNT (1 << 0)
 #define TS_ERROR_SOURCE_SLAVES (1 << 1)