From 911650f9c9b55ec60859dcf59e16844a8b7a01e0 Mon Sep 17 00:00:00 2001
From: walkermburns <walkermburns@gmail.com>
Date: Thu, 8 Feb 2024 23:34:39 -0500
Subject: [PATCH] Pushing some fixes

---
 lib/interfaces/include/AMSInterface.h       | 8 ++++----
 lib/interfaces/include/HytechCANInterface.h | 2 +-
 lib/interfaces/src/AMSInterface.cpp         | 6 +++---
 lib/systems/src/SafetySystem.cpp            | 3 ++-
 src/main.cpp                                | 4 ++--
 5 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/lib/interfaces/include/AMSInterface.h b/lib/interfaces/include/AMSInterface.h
index 5b05a4c9f..1ac625cd9 100644
--- a/lib/interfaces/include/AMSInterface.h
+++ b/lib/interfaces/include/AMSInterface.h
@@ -40,7 +40,7 @@ class AMSInterface
         AMSInterface(sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};
 
     /* Initialize the heartbeat timer */
-    void init();
+    void init(unsigned long curr_millis);
 
     /* Write to Main ECU */
 
@@ -51,8 +51,8 @@ class AMSInterface
     void set_state_ok_high(bool ok_high);
     
     /* Monitor AMS state */
-    void set_heartbeat();
-    bool heartbeat_received();
+    void set_heartbeat(unsigned long curr_millis);
+    bool heartbeat_received(unsigned long curr_millis);
     bool is_below_pack_charge_critical_low_thresh();
     bool is_below_pack_charge_critical_total_thresh();
     bool pack_charge_is_critical();    
@@ -62,7 +62,7 @@ class AMSInterface
     float get_filtered_min_cell_voltage();
 
     /* Retrieve CAN */
-    void retrieve_status_CAN(CAN_message_t &recvd_msg, unsigned long cur_millis);
+    void retrieve_status_CAN(unsigned long millis, CAN_message_t &recvd_msg);
     void retrieve_temp_CAN(CAN_message_t &recvd_msg);
     void retrieve_voltage_CAN(CAN_message_t &recvd_msg);
 
diff --git a/lib/interfaces/include/HytechCANInterface.h b/lib/interfaces/include/HytechCANInterface.h
index 7a4a9aeab..402d0e346 100644
--- a/lib/interfaces/include/HytechCANInterface.h
+++ b/lib/interfaces/include/HytechCANInterface.h
@@ -72,7 +72,7 @@ void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces,
         
         // AMS msg receives
         case ID_BMS_STATUS:
-            interfaces.ams_interface->retrieve_status_CAN(recvd_msg, curr_millis);
+            interfaces.ams_interface->retrieve_status_CAN(curr_millis, recvd_msg);
             break;
         case ID_BMS_TEMPERATURES:
             interfaces.ams_interface->retrieve_temp_CAN(recvd_msg);
diff --git a/lib/interfaces/src/AMSInterface.cpp b/lib/interfaces/src/AMSInterface.cpp
index 8ec74d509..2078a342e 100644
--- a/lib/interfaces/src/AMSInterface.cpp
+++ b/lib/interfaces/src/AMSInterface.cpp
@@ -1,9 +1,9 @@
 #include "AMSInterface.h"
 
 /* Pin mode output to watchdog reset */
-void AMSInterface::init() {
+void AMSInterface::init(unsigned long curr_millis) {
 
-    set_heartbeat();
+    set_heartbeat(curr_millis);
 
 }
 
@@ -68,7 +68,7 @@ float AMSInterface::get_filtered_min_cell_voltage() {
 }
 
 /* Retrieve CAN messages */
-void AMSInterface::retrieve_status_CAN(CAN_message_t &recvd_msg, unsigned long curr_millis) {
+void AMSInterface::retrieve_status_CAN(unsigned long curr_millis, CAN_message_t &recvd_msg) {
     bms_status_.load(recvd_msg.buf);
     set_heartbeat(curr_millis);
 }
diff --git a/lib/systems/src/SafetySystem.cpp b/lib/systems/src/SafetySystem.cpp
index 7f23b741d..a68f366eb 100644
--- a/lib/systems/src/SafetySystem.cpp
+++ b/lib/systems/src/SafetySystem.cpp
@@ -15,7 +15,8 @@ void SafetySystem::software_shutdown(const SysTick_s &tick) {
 
     // If AMS heartbeat is not received within reasonable interval
     // Set software is not ok
-    if (!ams_->heartbeat_received()) {
+    unsigned long millis = (unsigned long) tick.millis;
+    if (!ams_->heartbeat_received(millis)) {
         software_is_ok = false;
     }
     if (software_is_ok)
diff --git a/src/main.cpp b/src/main.cpp
index 1982b2605..638b4e2db 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -114,7 +114,7 @@ void setup() {
     /* Initialize interface */
     main_ecu.init();    // initial shutdown circuit readings, 
     wd_interface.init(curr_tick);   // initialize wd kick time
-    ams_interface.init();  // initialize last heartbeat time
+    ams_interface.init(curr_tick.millis);  // initialize last heartbeat time
 
     /* Initialize system */
     safety_system.init();   // write software_ok high, write wd_input high, set software ok state true
@@ -179,7 +179,7 @@ void tick_all_interfaces(const SysTick_s& current_system_tick) {
 }
 
 void tick_all_systems(const SysTick_s& current_system_tick) {
-    
+
     // tick pedals system
     pedals_system.tick(
         current_system_tick,