enforce minimum trip current value

tinymovr · Feb 25, 2024 · 1f8b4f2 · 1f8b4f2
1 parent eb1b579
commit 1f8b4f2
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/firmware/src/common.h b/firmware/src/common.h
@@ -123,6 +123,12 @@
 #define BOARD_REV_IDX 21
 #endif
 
+#if defined BOARD_REV_R3 || defined BOARD_REV_R5
+#define MIN_TRIP_CURRENT (5.0f) // A
+#elif defined BOARD_REV_M5
+#define MIN_TRIP_CURRENT (1.0f) // A
+#endif
+
 #define TIMER_FREQ_HZ (ACLK_FREQ_HZ >> TXCTL_PS_DIV)
 
 #define SENSOR_COMMON_RES_BITS (13)

diff --git a/firmware/src/controller/controller.c b/firmware/src/controller/controller.c
@@ -107,8 +107,8 @@ void Controller_ControlLoop(void)
     {
         state.warnings = 0;
         const float Iq = controller_get_Iq_estimate();
-        if ((Iq > (config.I_limit * I_TRIP_MARGIN)) ||
-            (Iq < -(config.I_limit * I_TRIP_MARGIN)))
+        const float Iq_trip = our_fmaxf(config.I_limit * I_TRIP_MARGIN, MIN_TRIP_CURRENT);
+        if (our_fabsf(Iq) > Iq_trip)
         {
             state.errors |= CONTROLLER_ERRORS_CURRENT_LIMIT_EXCEEDED;
         }