Fault Management

This documentation attempts to gather all the different faults of the car in one place, and discuss the recovery methods.

Centre Console Faults

These are generated when there’s a missed ack.

Set MCI Relay State

Set Ebrake State

Set MCI Output

Recovery:

• periodically open the MCI relays, and try to get back to neutral.

• In that case we send a DRIVE_STATE_TRANSITION_FAULT()

  • doesn’t have to be acknowledged

• MCI can switch back to neutral, to mute the faults from lack of power.

• Could potentially have weird faults.

  • Don’t have to do anything about it, cuz soon as we set the relays, then mci should stop faulting.

  • If there’s persistent communication error with MCI’s then powertrain heartbeat will fail.