Refactor extra1 to fertilizer_pump in HAL and main logic

- Renamed `extra1` method and related calls to `fertilizer_pump` for clarity and better domain alignment.
- Updated HAL implementation to control `extra2` GPIO for fertilizer pump operations.
- Added build script trigger to refresh `VERGEN_BUILD_TIMESTAMP` on each build.

Software/CAN_Sensor/src/main.rs

@@ -415,7 +415,7 @@ async fn can_task(
                     Timer::after_millis(100).await;
                 }
                 let mut msg: heapless::String<128> = heapless::String::new();
-                let _ = write!(&mut msg, "rx err {:?}", err);
+                let _ = write!(&mut msg, "rx err {:?} \r\n", err);
                 log(msg);
             }
         }
@@ -429,14 +429,25 @@ async fn can_task(
             }
         }
 
-        // Check CAN error status register for bus-off condition
+
-        if hal::pac::CAN1.errsr().read().boff() {
-            blink_error_loop(info, warn, 3, 3).await; // Bus-off error
-        }
 
         while let Ok(mut frame) = CAN_TX_CH.try_receive() {
             match can.transmit(&mut frame) {
-                Ok(..) => {
+                Ok(_ok) => {
+                    let status = hal::pac::CAN1.errsr().read();
+
+                    // Check CAN error status register for bus-off condition
+                    if status.boff() || status.ewgf() || status.epvf() {
+                        let mut msg: heapless::String<128> = heapless::String::new();
+                        let _ = write!(&mut msg, "canbus status {} {} {} \r\n", status.boff(), status.ewgf(), status.epvf());
+                        log(msg);
+                        for _ in 0..2 {
+                            warn.set_high();
+                            Timer::after_millis(100).await;
+                            warn.set_low();
+                            Timer::after_millis(100).await;
+                        }
+                    }
                 }
                 Err(nb::Error::WouldBlock) => {
                     for _ in 0..2 {
@@ -446,7 +457,7 @@ async fn can_task(
                         Timer::after_millis(100).await;
                     }
                     let mut msg: heapless::String<128> = heapless::String::new();
-                    let _ = write!(&mut msg, "canbus out buffer full");
+                    let _ = write!(&mut msg, "canbus out buffer full  \r\n");
                     log(msg);
                 }
                 Err(nb::Error::Other(err)) => {
@@ -457,7 +468,7 @@ async fn can_task(
                         Timer::after_millis(100).await;
                     }
                     let mut msg: heapless::String<128> = heapless::String::new();
-                    let _ = write!(&mut msg, "tx err {:?}", err);
+                    let _ = write!(&mut msg, "tx err {:?}  \r\n", err);
                     log(msg);
                 }
             }
@@ -516,7 +527,7 @@ async fn worker(
     loop {
         let mut total_pulses: u32 = 0;
 
-        for _ in 0..AVG_WINDOWS {
+        for _window in 0..AVG_WINDOWS {
             // Count rising edges of Q in a 100 ms window
             let start = Instant::now();
             let mut pulses: u32 = 0;
@@ -586,9 +597,8 @@ async fn worker(
 
         // Send firmware build timestamp after each measurement so the controller
         // always has up-to-date build info without requiring an identify request.
-        if let Some(build_frame) = CanFrame::new(firmware_build_id, &FIRMWARE_BUILD_MINUTES.to_be_bytes()) {
+        let firmware = CanFrame::new(firmware_build_id, &FIRMWARE_BUILD_MINUTES.to_be_bytes()).unwrap();
-            CAN_TX_CH.send(build_frame).await;
+        CAN_TX_CH.send(firmware).await;
-        }
 
         // Wait for the other slot to measure, plus gaps to ensure no overlap
         // After A finishes measuring: wait 50ms (gap) + 400ms (B measures) + 50ms (gap) = 500ms

Software/MainBoard/rust/build.rs

@@ -49,5 +49,8 @@ fn linker_be_nice() {
 
 fn main() {
     linker_be_nice();
+    // Non-existent path causes Cargo to always re-run this script,
+    // keeping VERGEN_BUILD_TIMESTAMP fresh on every build.
+    println!("cargo:rerun-if-changed=ALWAYS_REBUILD_SENTINEL");
     let _ = EmitBuilder::builder().all_git().all_build().emit();
 }

Software/MainBoard/rust/src/hal/mod.rs

@@ -164,7 +164,7 @@ pub trait BoardInteraction<'a> {
     async fn get_mptt_voltage(&mut self) -> FatResult<Voltage>;
     async fn get_mptt_current(&mut self) -> FatResult<Current>;
     async fn can_power(&mut self, state: bool) -> FatResult<()>;
-    async fn extra1(&mut self, enable: bool) -> FatResult<()>;
+    async fn fertilizer_pump(&mut self, enable: bool) -> FatResult<()>;
 
     async fn backup_config(&mut self, config: &PlantControllerConfig) -> FatResult<()>;
     async fn read_backup(&mut self) -> FatResult<PlantControllerConfig>;

Software/MainBoard/rust/src/hal/v4_hal.rs

@@ -484,11 +484,11 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
         Ok(())
     }
 
-    async fn extra1(&mut self, enable: bool) -> FatResult<()> {
+    async fn fertilizer_pump(&mut self, enable: bool) -> FatResult<()> {
         if enable {
-            self.extra1.set_high();
+            self.extra2.set_high();
         } else {
-            self.extra1.set_low();
+            self.extra2.set_low();
         }
         Ok(())
     }

Software/MainBoard/rust/src/main.rs

@@ -733,9 +733,9 @@ pub async fn do_secure_pump(
                     &elapsed_minutes.to_string(),
                     "",
                 );
-                board.board_hal.extra1(true).await?;
+                board.board_hal.fertilizer_pump(true).await?;
                 Timer::after_millis(plant_config.fertilizer_s as u64 * 1000).await;
-                board.board_hal.extra1(false).await?;
+                board.board_hal.fertilizer_pump(false).await?;
                 info!("Fertilizer pump stopped");
 
                 // Store the current time as last fertilizer time

Software/MainBoard/rust/src/webserver/post_json.rs

@@ -109,9 +109,9 @@ where
     T: Read + Write,
 {
     let mut board = BOARD_ACCESS.get().await.lock().await;
-    board.board_hal.extra1(true).await?;
+    board.board_hal.fertilizer_pump(true).await?;
     embassy_time::Timer::after_millis(1000).await;
-    board.board_hal.extra1(false).await?;
+    board.board_hal.fertilizer_pump(false).await?;
     Ok(None)
 }