Update Fault State

[KnockbackNemo]

Context 🔖

Currently, our fault handler is hard-coded to handle each fault and therefore must be edited each time we add a new exception. Additionally, we use a bitmap to hold different faults which limits the amount of exceptions we can handle. We'd like to update fault state to make it more modular and scalable.

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Goal 🏃

To improve changeability, we want to edit Fault State to handle general cases based on priority instead of using the previously implemented, hard-coded handlers and bitmap that are specific to each case. To do this, we'll replace our various assertion functions with a generic assertion that takes in an exception struct containing (1) the priority, (2) a description of the fault, and (3) a function pointer to address any exception-specific behaviors.

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Task ☑️

The objective is to revise fault state and its assertion functions for both OS and non-OS faults.

For non-OS faults, we'll need the following:

• An exception struct that contains
  • a priority level int
  • a description string saying what the exception was (ex. "Read Car can faulted out")
  • a function pointer with more specific/custom exception handling.
• An updated fault state that handles exceptions based on priority level instead of exception type
• A generic assertion function that takes an exception struct as a parameter and signals fault state to handle the error

For OS faults, we'll need to create an assertion that does not depend on any OS functionality.
This assertion will

• use BSP-layer calls to pull contactors
• Enter an infinite while loop
• Hit a hard fault inside the while loop

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Notes 🗒️

• We can be creative about what other fault behaviors might be. Additional features may include using the display and brake lights for telemetry purposes.
• Fault state will remain the highest priority task in the system
• When an exception happens, the immediate next thing that should happen is the fault state handling
• For OS faults, we can borrow from the assertOS function