Send AMS error messages

Core/Src/can.c

@@ -28,6 +28,13 @@ HAL_StatusTypeDef can_send_status() {
   return ftcan_transmit(CAN_ID_AMS_STATUS, data, sizeof(data));
 }
 
+HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg) {
+  uint8_t data[2];
+  data[0] = kind;
+  data[1] = arg;
+  return ftcan_transmit(CAN_ID_AMS_ERROR, data, sizeof(data));
+}
+
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
   if ((id & 0xFF0) == CAN_ID_SHUNT_BASE) {
     shunt_handle_can_msg(id, data);

Core/Src/shunt_monitoring.c

@@ -23,7 +23,14 @@ void shunt_init() {
 }
 
 void shunt_check() {
-  int is_error = shunt_data.current >= THRESH_OVERCURRENT;
+  int is_error = 0;
+  if (shunt_data.current >= THRESH_OVERCURRENT) {
+    is_error = 1;
+    can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);
+  } else if (shunt_data.busbartemp >= THRESH_OVERTEMP) {
+    is_error = 1;
+    can_send_error(TS_ERRORKIND_SHUNT_OVERTEMP, 0);
+  }
   ts_sm_set_error_source(TS_ERROR_SOURCE_SHUNT, is_error);
 }
 

Core/Src/slave_monitoring.c

@@ -1,5 +1,6 @@
 #include "slave_monitoring.h"
 
+#include "can.h"
 #include "main.h"
 #include "ts_state_machine.h"
 
@@ -60,14 +61,18 @@ void slaves_check() {
   uint16_t min_voltage_new = 0xFFFF;
   int16_t max_temp_new = 0xFFFF;
   for (int i = 0; i < N_SLAVES; i++) {
+    // Update timeout errors
     if (now - slaves[i].last_message >= SLAVE_TIMEOUT) {
       // Don't overwrite a different error kind
       if (slaves[i].error.kind == SLAVE_ERR_NONE) {
         slaves[i].error.kind = SLAVE_ERR_TIMEOUT;
+        can_send_error(TS_ERRORKIND_SLAVE_TIMEOUT, slaves[i].id);
       }
     } else if (slaves[i].error.kind == SLAVE_ERR_TIMEOUT) {
       slaves[i].error.kind = SLAVE_ERR_NONE;
     }
+
+    // Determine min/max
     if (slaves[i].min_voltage < min_voltage_new) {
       min_voltage_new = slaves[i].min_voltage;
     }
@@ -107,6 +112,7 @@ void slaves_handle_panic(const uint8_t *data) {
   }
   slaves[idx].error.data = ftcan_unmarshal_unsigned(&data, 4);
   slaves[idx].last_message = HAL_GetTick();
+  can_send_error(TS_ERRORKIND_SLAVE_PANIC, slave_id);
 }
 
 void slaves_handle_status(const uint8_t *data) {