Refactor abnormal voltage check to be more robust

tinymovr · Jul 29, 2024 · 49a2ea3 · 49a2ea3
1 parent 0ffd022
commit 49a2ea3
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/firmware/src/config.h b/firmware/src/config.h
@@ -31,8 +31,6 @@
 #define PWM_FREQ_HZ              (20000)
 #define SYSTICK_FREQ_HZ          (1000)
 
-#define MAX_CALIBRATION_POWER 30.0f // W
-
 // Control parameters
 #define PWM_LIMIT                   (0.8f)
 #define I_INTEGRATOR_DECAY_FACTOR   (0.995f)

diff --git a/firmware/src/motor/motor.c b/firmware/src/motor/motor.c
@@ -88,7 +88,8 @@ bool motor_calibrate_resistance(void)
         {
             ADC_get_phase_currents(&I_phase_meas);
 
-            if (powf(V_setpoint, 2) / MAX_PHASE_RESISTANCE > MAX_CALIBRATION_POWER)
+			// 
+            if (V_setpoint > MAX_CALIBRATION_VOLTAGE && I_phase_meas.A < MIN_CALIBRATION_CURRENT)
             {
                 uint8_t *error_ptr = motor_get_error_ptr();
                 *error_ptr |= MOTOR_ERRORS_ABNORMAL_CALIBRATION_VOLTAGE;

diff --git a/firmware/src/motor/motor.h b/firmware/src/motor/motor.h
@@ -27,11 +27,15 @@
 #define MAX_PHASE_RESISTANCE (1.0f)
 #define MIN_PHASE_INDUCTANCE (5e-6f)
 #define MAX_PHASE_INDUCTANCE (1e-3f)
+#define MAX_CALIBRATION_VOLTAGE (0.5f) // V
+#define MIN_CALIBRATION_CURRENT (0.2f) // A
 #elif defined BOARD_REV_M5
 #define MIN_PHASE_RESISTANCE (0.5f)
 #define MAX_PHASE_RESISTANCE (20.0f)
 #define MIN_PHASE_INDUCTANCE (1e-5f)
 #define MAX_PHASE_INDUCTANCE (1e-2f)
+#define MAX_CALIBRATION_VOLTAGE (5.0f) // V
+#define MIN_CALIBRATION_CURRENT (0.1f) // A
 #endif
 
 #define CAL_R_LEN             (2 * PWM_FREQ_HZ)