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Check for max current based on HW version

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This commit is contained in:
Paul Guenette
2017-11-22 20:49:09 -05:00
parent 63d8a12f6e
commit d9b13efac2
2 changed files with 10 additions and 1 deletions
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Firmware/MotorControl/low_level.c
+9 -1
View File
@@ -144,6 +144,7 @@ Motor_t motors[] = {
.calib_pos_threshold = 1.0f,
.calib_vel_threshold = 1.0f,
},
.max_allowed_current = 0.0f,
},
{ // M1
.control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
@@ -233,7 +234,8 @@ Motor_t motors[] = {
.calib_anticogging = false,
.calib_pos_threshold = 1.0f,
.calib_vel_threshold = 1.0f,
}
},
.max_allowed_current = 0.0f,
}
};
const int num_motors = sizeof(motors)/sizeof(motors[0]);
@@ -402,6 +404,7 @@ static void DRV8301_setup(Motor_t* motor) {
local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_40VpV;
switch (local_regs->Ctrl_Reg_2.GAIN) {
case DRV8301_ShuntAmpGain_10VpV:
motor->phase_current_rev_gain = 1.0f/10.0f;
break;
@@ -416,6 +419,11 @@ static void DRV8301_setup(Motor_t* motor) {
break;
}
float margin = 0.95f;
float max_input = margin * 0.3f * motor->shunt_conductance;
float max_swing = margin * 1.6f * motor->shunt_conductance / motor->phase_current_rev_gain;
motor->max_allowed_current = MACRO_MIN(max_input, max_swing);
local_regs->SndCmd = true;
DRV8301_writeData(gate_driver, local_regs);
local_regs->RcvCmd = true;
Firmware/MotorControl/low_level.h
+1
View File
@@ -146,6 +146,7 @@ typedef struct {
int timing_log_index;
uint16_t timing_log[TIMING_LOG_SIZE];
Anticogging_t anticogging;
float max_allowed_current;
} Motor_t;
typedef struct{