Preserve the motor state when error occur and send it together with fault code to mc_interface_fault_stop

[aurimasniekis]

We are having some issues when people are getting ABS_OVER_CURRENT error and current values in fault report are not even close to the Absolute Current Limit. I think it has to do with fact that current reading is happening in a separate thread and after the fault was set it was already read new current value and so error report has wrong values.

that's why I would like to propose duplicating motor state variable and sending it with fault code to the method mc_interface_fault_stop:

bldc/mc_interface.c

Line 1020 in a20c35b

void mc_interface_fault_stop(mc_fault_code fault) {