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Firmware hardening

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- check return code of enqueue_modulation_timings
 - wrap all hardware access to safety critical hardware timer registers in safety_critical_ sections. These functions like the armed-ness of each PWM output to a corresponding armed state that can only be set at start or by the user
 - ensure NaN in any variables doesn't cause unpredictable behavior on the safety critical PWM outputs
This commit is contained in:
Samuel Sadok
2018-03-30 22:32:07 -07:00
parent af4fc8a686
commit b8b483c9d6
17 changed files with 285 additions and 89 deletions
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Firmware/MotorControl/controller.cpp
+1 -1
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@@ -96,7 +96,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
// We get the current position and apply a current feed-forward
// ensuring that we handle negative encoder positions properly (-1 == motor->encoder.encoder_cpr - 1)
if (anticogging_.use_anticogging) {
Iq += anticogging_.cogging_map[mod(pos_estimate, axis_->encoder_.config_.cpr)];
Iq += anticogging_.cogging_map[mod(static_cast<int>(pos_estimate), axis_->encoder_.config_.cpr)];
}
float v_err = vel_des - vel_estimate;