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print clamping warning

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This commit is contained in:
crinq
2022-04-26 16:43:21 +02:00
parent fb23ed3176
commit a779298de3
1 changed files with 23 additions and 0 deletions
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23
shared/comps/fault.c
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@@ -63,6 +63,9 @@ HAL_PIN(print);
HAL_PIN(brake_release);
HAL_PIN(warn_timer);
HAL_PIN(error_timer);
//fault strings for fault_t form common.h
static const char* fault_string[] = {
"no error",
@@ -289,6 +292,9 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
if(PIN(brake_release) > 0.0) {
PIN(mot_brake) = 1.0;
}
PIN(warn_timer) = MAX(PIN(warn_timer) - period, 0.0);
PIN(error_timer) = MAX(PIN(error_timer) - period, 0.0);
}
@@ -296,6 +302,23 @@ static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
struct fault_ctx_t *ctx = (struct fault_ctx_t *)ctx_ptr;
struct fault_pin_ctx_t *pins = (struct fault_pin_ctx_t *)pin_ptr;
if(PIN(warn_timer) <= 0.0){
if(PIN(dc_volt) > PIN(high_dc_volt)){
printf("<font color='orange'>WARNING:</font> over voltage current clamping active\n");
PIN(warn_timer) = 1.0;
}
if(PIN(mot_temp) > PIN(high_mot_temp)){
printf("<font color='orange'>WARNING:</font> over temperature (motor) current clamping active\n");
PIN(warn_timer) = 1.0;
}
if(PIN(hv_temp) > PIN(high_hv_temp)){
printf("<font color='orange'>WARNING:</font> over temperature (driver) current clamping active\n");
PIN(warn_timer) = 1.0;
}
}
//TODO: fix EDGE
if(EDGE(ctx->state) || PIN(print) > 0.0) {
PIN(print) = 0.0;