Fix static hall signal error detection #105
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seiga-k
reviewed
Jul 25, 2024
| { | ||
| driver_state.error.hall[i] += 6; | ||
| } | ||
| if (driver_state.error.hall[i] > 12) |
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連続でホール素子がこの状態になったとすると、 driver_state.error.hall[i] は0->6->12と変化するのでここのifはtrueにならなさそう。
一度値が変化しないと L468 に飛ばないので6の倍数から崩れることがない？
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元々、エラーが出続けてカウンタ(8bit)がオーバーフローしたときに小さい値になってエラー状態が解除されるのを防ぐためにカウントの上限を付けているんだった
seiga-k
reviewed
Jul 30, 2024
tfrog-motordriver/controlPWM.c
Outdated
| if (driver_state.error.hall[i] > 12) | ||
| { | ||
| motor[i].error_state |= ERROR_HALL_SEQ; | ||
| printf("PWM:static hall err (%x)\n\r", hall[i]); |
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この条件は継続して発生するため、ここでprintfすると制御周期でprintfし続けることになり処理が間に合わなくなる。
if ((motor[i].error_state & ERROR_HALL_SEQ) == 0)
printf("PWM:static hall err (%x)\n\r", hall[i]);
motor[i].error_state |= ERROR_HALL_SEQ;のように、初めてこのエラーになるときだけprintfするようにすることで不具合を防げる
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