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safety: move relay fault management (#2281)

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* safety: move relay fault management

* set it
This commit is contained in:
Adeeb Shihadeh
2025-09-27 15:58:04 -07:00
committed by GitHub
parent f6a06e34f2
commit 2e691e3e62
1 changed files with 10 additions and 0 deletions
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10
board/main.c
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@@ -118,6 +118,7 @@ static void tick_handler(void) {
static uint32_t controls_allowed_countdown = 0;
static uint8_t prev_harness_status = HARNESS_STATUS_NC;
static uint8_t loop_counter = 0U;
static bool relay_malfunction_prev = false;
if (TICK_TIMER->SR != 0U) {
@@ -130,6 +131,15 @@ static void tick_handler(void) {
simple_watchdog_kick();
sound_tick();
if (relay_malfunction_prev != relay_malfunction) {
if (relay_malfunction) {
fault_occurred(FAULT_RELAY_MALFUNCTION);
} else {
fault_recovered(FAULT_RELAY_MALFUNCTION);
}
}
relay_malfunction_prev = relay_malfunction;
// re-init everything that uses harness status
if (harness.status != prev_harness_status) {
prev_harness_status = harness.status;