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Fix static hall signal error detection #105

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merged 6 commits into from
Jul 31, 2024
Merged

Fix static hall signal error detection #105

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2b22a2e
Fix static hall signal error detection
at-wat Jul 25, 2024
b851e4e
Fix comment position
at-wat Jul 25, 2024
605268c
Update condition
at-wat Jul 25, 2024
eebd8b8
Fix error count condition
at-wat Jul 25, 2024
391d402
Show hall error only once
at-wat Jul 30, 2024
86f3c14
Fix hallenc error count
at-wat Jul 30, 2024
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43 changes: 30 additions & 13 deletions tfrog-motordriver/controlPWM.c
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Original file line number Diff line number Diff line change
Expand Up @@ -422,27 +422,41 @@ void FIQ_PWMPeriod()
char dir;
uint16_t halldiff;

// ホール素子信号が全相1、全相0のときはエラー
if ((hall[i] & 0x07) == (HALL_U | HALL_V | HALL_W) ||
(hall[i] & 0x07) == 0)
{
// Stop motor control if static hall signal error is continued for more than 3 PWM cycle interrups.
if (driver_state.error.hall[i] <= 12)
{
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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たしかに

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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

{
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;
}
continue;
}

u = v = w = 0;
halldiff = (hall[i] ^ _hall[i]) & 0x07;

if (halldiff == 0)
continue;
dir = 0;

if ((hall[i] & 0x07) == (HALL_U | HALL_V | HALL_W) ||
(hall[i] & 0x07) == 0 ||
halldiff == 3 || halldiff >= 5)
// ホース素子信号が2ビット以上変化したときはエラー
if (halldiff == 3 || halldiff >= 5)
{
// if( (hall[i] & 0x07) == ( HALL_U | HALL_V | HALL_W ) ) printf( "ENC error: 111\n\r" );
// if( (hall[i] & 0x07) == 0 ) printf( "ENC error: 000\n\r" );
// if( halldiff == 3 || halldiff >= 5 ) printf( "ENC error: %x->%x\n\r", _hall[i], hall[i] );
// ホール素子信号が全相1、全相0のとき
// ホース素子信号が2ビット以上変化したときはエラー

// Skip next one error to avoid counting another edge of this error.
if (driver_state.error.hall[i] < 12)
if (driver_state.error.hall[i] <= 12)
{
driver_state.error.hall[i] += 12;

}
if (driver_state.error.hall[i] > 12)
{
// エラー検出後、1周以内に再度エラーがあれば停止
Expand Down Expand Up @@ -609,14 +623,17 @@ void FIQ_PWMPeriod()
if (_abs(err) > motor_param[i].enc_rev / 6)
{
// Skip next one error to avoid counting another edge of this error.
if (driver_state.error.hallenc[i] < 12)
if (driver_state.error.hallenc[i] <= 12)
driver_state.error.hallenc[i] += 12;

if (driver_state.error.hallenc[i] > 12)
{
// Enter error stop mode if another error occurs within one revolution
if ((motor[i].error_state & ERROR_HALL_ENC) == 0)
{
printf("PWM:enc-hall err (%ld)\n\r", err);
}
motor[i].error_state |= ERROR_HALL_ENC;
printf("PWM:enc-hall err (%ld)\n\r", err);
}
// Don't apply erroneous absolute angle
continue;
Expand Down
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