fault_monitor.h

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#pragma once
 
#include <Arduino.h>
 
struct FaultMonitorConfig {
  uint8_t mismatchCyclesRequired;         
  uint8_t matchCyclesRequiredForRecovery; 
  uint32_t settlingTimeMs;                
};
 
struct FaultMonitorSnapshot {
  uint8_t commandedPwmPercent;      
  uint16_t measuredRpm;             
  uint16_t expectedRpm;             
  uint16_t toleranceRpm;            
  int16_t rpmError;                 
  bool plausibilityActive;          
  bool plausible;                   
  bool faultLatched;                
  uint8_t mismatchCount;            
  uint8_t matchCount;               
  uint32_t elapsedSincePwmChangeMs; 
};
 
constexpr FaultMonitorConfig kDefaultFaultMonitorConfig = {
    3,
    3,
    5000,
};
 
class FaultMonitor {
 public:
  explicit FaultMonitor(
      const FaultMonitorConfig& config = kDefaultFaultMonitorConfig);
 
  void reset();
 
  FaultMonitorSnapshot evaluate(uint8_t commandedPwmPercent,
                                uint16_t measuredRpm,
                                uint32_t nowMs);
 
 private:
  void updateCommandedPwm(uint8_t commandedPwmPercent, uint32_t nowMs);
 
  FaultMonitorConfig config_;
  uint8_t lastCommandedPwmPercent_;
  uint32_t lastPwmChangeMs_;
  uint8_t mismatchCount_;
  uint8_t matchCount_;
  bool faultLatched_;
  bool hasSeenPwmCommand_;
};