Merge branch 'master' into devel

Firmware/Board/v3/Inc/main.h

@@ -170,8 +170,10 @@
 
 #if HW_VERSION_VOLTAGE == 48
 #define VBUS_S_DIVIDER_RATIO 19.0f
+#define VBUS_OVERVOLTAGE_LEVEL 52.0f
 #elif HW_VERSION_VOLTAGE == 24
 #define VBUS_S_DIVIDER_RATIO 11.0f
+#define VBUS_OVERVOLTAGE_LEVEL 26.0f
 #else
 #error "unknown board voltage"
 #endif

Firmware/MotorControl/low_level.c

@@ -68,7 +68,8 @@ Motor_t motors[] = {
         .current_setpoint = 0.0f,        // [A]
         .calibration_current = 10.0f,    // [A]
         .resistance_calib_max_voltage = 1.0f, // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
-        .dc_bus_brownout_trip_level = 8.0f, // [V]
+        .dc_bus_undervoltage_trip_level = 8.0f, // [V]
+        .dc_bus_overvoltage_trip_level = VBUS_OVERVOLTAGE_LEVEL, // [V]
         .phase_inductance = 0.0f,        // to be set by measure_phase_inductance
         .phase_resistance = 0.0f,        // to be set by measure_phase_resistance
         .motor_thread = 0,
@@ -176,7 +177,8 @@ Motor_t motors[] = {
         .current_setpoint = 0.0f,                 // [A]
         .calibration_current = 10.0f,             // [A]
         .resistance_calib_max_voltage = 1.0f, // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
-        .dc_bus_brownout_trip_level = 8.0f, // [V]
+        .dc_bus_undervoltage_trip_level = 8.0f, // [V]
+        .dc_bus_overvoltage_trip_level = VBUS_OVERVOLTAGE_LEVEL, // [V]
         .phase_inductance = 0.0f,                 // to be set by measure_phase_inductance
         .phase_resistance = 0.0f,                 // to be set by measure_phase_resistance
         .motor_thread = 0,
@@ -1320,8 +1322,16 @@ bool check_DRV_fault(Motor_t* motor) {
 }
 
 //Returns true if everything is OK (no fault)
-bool check_PSU_brownout(Motor_t* motor) {
-    if(vbus_voltage < motor->dc_bus_brownout_trip_level)
+bool check_vbus_undervoltage(Motor_t* motor) {
+    if(vbus_voltage < motor->dc_bus_undervoltage_trip_level)
+        return false;
+    return true;
+}
+
+//Returns true if everything is OK (no fault)
+// TODO This will be less repetitive with the refactoring
+bool check_vbus_overvoltage(Motor_t* motor) {
+    if(vbus_voltage > motor->dc_bus_overvoltage_trip_level)
         return false;
     return true;
 }
@@ -1338,8 +1348,12 @@ bool do_checks(Motor_t* motor) {
         DRV8301_readData(&motor->gate_driver, local_regs);
         return false;
     }
-    if (!check_PSU_brownout(motor)) {
-        motor->error = ERROR_DC_BUS_BROWNOUT;
+    if (!check_vbus_undervoltage(motor)) {
+        motor->error = ERROR_DC_BUS_UNDERVOLTAGE;
+        return false;
+    }
+    if (!check_vbus_overvoltage(motor)) {
+        motor->error = ERROR_DC_BUS_OVERVOLTAGE;
         return false;
     }
     return true;

Firmware/MotorControl/low_level.h

@@ -51,7 +51,8 @@ typedef enum {
     ERROR_DRV_FAULT,
     ERROR_NOT_IMPLEMENTED_MOTOR_TYPE,
     ERROR_ENCODER_CPR_OUT_OF_RANGE,
-    ERROR_DC_BUS_BROWNOUT,
+    ERROR_DC_BUS_UNDERVOLTAGE,
+    ERROR_DC_BUS_OVERVOLTAGE,
 } Error_t;
 
 // Note: these should be sorted from lowest level of control to
@@ -151,7 +152,8 @@ typedef struct {
     float current_setpoint;
     float calibration_current;
     float resistance_calib_max_voltage;
-    float dc_bus_brownout_trip_level;
+    float dc_bus_undervoltage_trip_level;
+    float dc_bus_overvoltage_trip_level;
     float phase_inductance;
     float phase_resistance;
     osThreadId motor_thread;

README.md

@@ -15,7 +15,7 @@ All non-power I/O is 3.3V output and 5V tolerant on input, except:
 
 You need one or two [brushless motors](https://hackaday.io/project/11583-odrive-high-performance-motor-control/log/37666-hobby-motors-in-your-robots), [quadrature incremental encoder(s)](https://discourse.odriverobotics.com/t/which-encoders-to-choose/63/2), and a power resistor.
 
-*The power resistor values you need depends on your motor setup, and peak/average decelleration power. A good starting point would be a [0.47 ohm, 50W resistor](https://www.digikey.com/product-detail/en/te-connectivity-passive-product/HSA50R47J/A102181-ND/2056131).*
+The power resistor values you need depends on your motor setup, and peak/average decelleration power. A good starting point would be a [0.47 ohm, 50W resistor](https://www.digikey.com/product-detail/en/te-connectivity-passive-product/HSA50R47J/A102181-ND/2056131). **Warning! Failure to use a break resistor may result in damage to your ODrive and/or power supply!**
 
 Wire up the motor phases into the 3-phase screw terminals, and the power resistor to the AUX terminal. Wire up the power source (12-24V) to the DC terminal, make sure to pay attention to the polarity. Do not apply power just yet.