Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-22 08:04:07 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

move DC overcurrent/undercurrent checks to update_brake_current()

Browse Source 
The checks now take into account the brake current.
Expose ibus on fibre.
This commit is contained in:
Samuel Sadok
2020-05-05 18:16:06 +02:00
parent 23f513e99e
commit 50ecdef860
8 changed files with 43 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/low_level.cpp
+30 -14
View File
@@ -35,6 +35,7 @@ const float adc_ref_voltage = 3.3f;
// This value is updated by the DC-bus reading ADC.
// Arbitrary non-zero inital value to avoid division by zero if ADC reading is late
float vbus_voltage = 12.0f;
float ibus_ = 0.0f; // exposed for monitoring only
bool brake_resistor_armed = false;
bool brake_resistor_saturated = false;
/* Private constant data -----------------------------------------------------*/
@@ -600,23 +601,38 @@ void update_brake_current() {
brake_duty += std::fmax((vbus_voltage - board_config.dc_bus_overvoltage_ramp_start) / (board_config.dc_bus_overvoltage_ramp_end - board_config.dc_bus_overvoltage_ramp_start), 0.0f);
}
if (!std::isnan(brake_duty)) {
if (brake_duty >= 0.95f) {
brake_resistor_saturated = true;
}
// Duty limit at 95% to allow bootstrap caps to charge
brake_duty = std::clamp(brake_duty, 0.0f, 0.95f);
// If brake_duty is NaN, this expression will also evaluate to false
int high_on = static_cast<int>(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;
if (low_off < 0) low_off = 0;
safety_critical_apply_brake_resistor_timings(low_off, high_on);
} else {
if (std::isnan(brake_duty)) {
// Shuts off all motors AND brake resistor, sets error code on all motors.
low_level_fault(Motor::ERROR_BRAKE_DUTY_CYCLE_NAN);
return;
}
if (brake_duty >= 0.95f) {
brake_resistor_saturated = true;
}
// Duty limit at 95% to allow bootstrap caps to charge
brake_duty = std::clamp(brake_duty, 0.0f, 0.95f);
// Special handling to avoid the case 0.0/0.0 == NaN.
Ibus_sum += brake_duty ? (brake_duty * vbus_voltage / board_config.brake_resistance) : 0.0f;
ibus_ = Ibus_sum;
if (Ibus_sum > board_config.dc_max_positive_current) {
low_level_fault(Motor::ERROR_DC_BUS_OVER_CURRENT);
return;
}
if (Ibus_sum < board_config.dc_max_negative_current) {
low_level_fault(Motor::ERROR_DC_BUS_OVER_REGEN_CURRENT);
return;
}
// If brake_duty is NaN, this expression will also evaluate to false
int high_on = static_cast<int>(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;
if (low_off < 0) low_off = 0;
safety_critical_apply_brake_resistor_timings(low_off, high_on);
}