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catch brake resistor deadtime violations

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This commit is contained in:
Oskar Weigl
2018-04-23 16:04:17 -07:00
parent 3a19ce4b73
commit 1734f86ea5
1 changed files with 3 additions and 1 deletions
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Firmware/MotorControl/low_level.cpp
+3 -1
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@@ -182,6 +182,8 @@ void safety_critical_disarm_brake_resistor() {
// @brief Updates the brake resistor PWM timings unless
// the brake resistor is disarmed.
void safety_critical_apply_brake_resistor_timings(uint32_t low_off, uint32_t high_on) {
if (high_on - low_off > TIM_APB1_DEADTIME_CLOCKS)
for(;;);
uint8_t sr = cpu_enter_critical();
if (brake_resistor_armed_) {
// Safe update of low and high side timings
@@ -431,7 +433,7 @@ void update_brake_current() {
float brake_duty = brake_current * board_config.brake_resistance / vbus_voltage;
// Duty limit at 90% to allow bootstrap caps to charge
// If brake_duty is NaN, this expression will also evaluate to true
// If brake_duty is NaN, this expression will also evaluate to false
if ((brake_duty >= 0.0f) && (brake_duty <= 0.9f)) {
int high_on = static_cast<int>(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;