Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-20 22:55:00 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Check for dc bus overvoltage

Browse Source
This commit is contained in:
Oskar Weigl
2018-04-15 17:38:37 -07:00
parent ff0cacba6a
commit 6e60ec4631
3 changed files with 26 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/Board/v3/Inc/main.h
+2
View File
@@ -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
+20 -6
View File
@@ -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
+4 -2
View File
@@ -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;