From 09a164d0ca22ee4ccb909a75762239a12f6b3f49 Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Mon, 25 Mar 2019 20:52:36 +0100
Subject: [PATCH 1/2] Add dc_bus_over_power error

---
 Firmware/MotorControl/axis.cpp      | 14 ++++++++++++++
 Firmware/MotorControl/axis.hpp      |  1 +
 Firmware/MotorControl/odrive_main.h |  1 +
 3 files changed, 16 insertions(+)

diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 80987c00..4f845eab 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -140,6 +140,20 @@ bool Axis::do_checks() {
     if (!(vbus_voltage <= board_config.dc_bus_overvoltage_trip_level))
         error_ |= ERROR_DC_BUS_OVER_VOLTAGE;
 
+    // This is the same math that's used in update_brake_current().  Should we calculate IBus globally?
+    float Ibus_sum = 0.0f;
+    for (size_t i = 0; i < AXIS_COUNT; ++i) {
+        if (axes[i]->motor_.armed_state_ == Motor::ARMED_STATE_ARMED) {
+            Ibus_sum += axes[i]->motor_.current_control_.Ibus;
+        }
+    }
+
+    if(board_config.power_supply_wattage >= 0.0f && 
+            Ibus_sum * vbus_voltage > board_config.power_supply_wattage) 
+    {
+        error_ |= ERROR_DC_BUS_OVER_POWER;
+    }
+
     // Sub-components should use set_error which will propegate to this error_
     motor_.do_checks();
     encoder_.do_checks();
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index 9e78fdab..3f240b87 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -21,6 +21,7 @@ public:
         ERROR_CONTROLLER_FAILED = 0x200,
         ERROR_POS_CTRL_DURING_SENSORLESS = 0x400,
         ERROR_WATCHDOG_TIMER_EXPIRED = 0x800,
+        ERROR_DC_BUS_OVER_POWER = 0x1000,
     };
 
     enum State_t {
diff --git a/Firmware/MotorControl/odrive_main.h b/Firmware/MotorControl/odrive_main.h
index 677fb996..7065cd42 100644
--- a/Firmware/MotorControl/odrive_main.h
+++ b/Firmware/MotorControl/odrive_main.h
@@ -81,6 +81,7 @@ struct BoardConfig_t {
                                                                         //<! This protects against cases in which the power supply fails to dissipate
                                                                         //<! the brake power if the brake resistor is disabled.
                                                                         //<! The default is 26V for the 24V board version and 52V for the 48V board version.
+    float power_supply_wattage = 0.0f;
     PWMMapping_t pwm_mappings[GPIO_COUNT];
     PWMMapping_t analog_mappings[GPIO_COUNT];
 };

From 7d318b9ee864b1272401c373182154f49ded3d6b Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Mon, 25 Mar 2019 20:54:38 +0100
Subject: [PATCH 2/2] Add power_supply_wattage to board config on protocol

---
 Firmware/communication/communication.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Firmware/communication/communication.cpp b/Firmware/communication/communication.cpp
index 79982e64..2558adab 100644
--- a/Firmware/communication/communication.cpp
+++ b/Firmware/communication/communication.cpp
@@ -158,6 +158,7 @@ static inline auto make_obj_tree() {
             make_protocol_property("enable_ascii_protocol_on_usb", &board_config.enable_ascii_protocol_on_usb),
             make_protocol_property("dc_bus_undervoltage_trip_level", &board_config.dc_bus_undervoltage_trip_level),
             make_protocol_property("dc_bus_overvoltage_trip_level", &board_config.dc_bus_overvoltage_trip_level),
+            make_protocol_property("power_supply_wattage", &board_config.power_supply_wattage),
 #if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
             make_protocol_object("gpio1_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[0])),
             make_protocol_object("gpio2_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[1])),