From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Fri, 16 Feb 2018 05:48:12 +0000 (-0800)
Subject: Roll back to simple load disable on over temp
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=ea472f64b4f06fbaecdfb079a4e86f1a174f2ecb;p=bbctrl-firmware

Roll back to simple load disable on over temp
---

diff --git a/src/pwr/config.h b/src/pwr/config.h
index 237eb29..65433d0 100644
--- a/src/pwr/config.h
+++ b/src/pwr/config.h
@@ -80,9 +80,8 @@ enum {
 #define VOLTAGE_MIN 11
 #define VOLTAGE_MAX 39
 #define CURRENT_MAX 25
-#define LOAD_CURRENT_MAX 8
 #define CURRENT_OVERTEMP 16 // Should read ~21A but over 11.86A is faulty
-#define LOAD_LIMIT_TICKS 10
+#define LOAD_OVERTEMP_MAX 10
 #define MOTOR_SHUTDOWN_THRESH 10
 #define VOLTAGE_SETTLE_COUNT 5
 #define VOLTAGE_SETTLE_PERIOD 20 // ms
@@ -134,8 +133,6 @@ enum {
   // Non fatal
   LOAD1_OVERTEMP_FLAG    = 1 << 6,
   LOAD2_OVERTEMP_FLAG    = 1 << 7,
-  LOAD1_LIMITING_FLAG    = 1 << 8,
-  LOAD2_LIMITING_FLAG    = 1 << 9,
 };
 
 
diff --git a/src/pwr/main.c b/src/pwr/main.c
index 0db219a..8cab8d2 100644
--- a/src/pwr/main.c
+++ b/src/pwr/main.c
@@ -40,15 +40,14 @@
 typedef struct {
   const regs_t reg;
   const uint8_t pin;
-  volatile uint8_t limit;
-  volatile uint8_t count;
-  volatile uint8_t lockout;
+  volatile uint8_t overtemp;
+  volatile bool shutdown;
 } load_t;
 
 
 load_t loads[2] = {
-  {LOAD1_REG, LOAD1_PIN, 5, 0, 0},
-  {LOAD2_REG, LOAD2_PIN, 5, 0, 0},
+  {LOAD1_REG, LOAD1_PIN, 0, false},
+  {LOAD2_REG, LOAD2_PIN, 0, false},
 };
 
 
@@ -178,34 +177,22 @@ static void measure_nominal_voltage() {
 
 
 static void check_load(load_t *load) {
-  bool overtemp = CURRENT_OVERTEMP * 100 < regs[load->reg];
-  if (overtemp && !load->lockout) {
-    load->lockout = true;
-    if (load->limit < LOAD_LIMIT_TICKS) load->limit++;
-  }
-
-  if (!overtemp) load->lockout = false;
-}
-
+  if (load->shutdown) return;
 
-void limit_load(load_t *load) {
-  if (load->count < load->limit || load->lockout) {
-    IO_PORT_CLR(load->pin); // Lo
-    IO_DDR_SET(load->pin);  // Output
-
-  } else IO_DDR_CLR(load->pin); // Float
-
-  if (++load->count == LOAD_LIMIT_TICKS) load->count = 0;
+  bool overtemp = CURRENT_OVERTEMP * 100 < regs[load->reg];
+  if (overtemp) {
+    if (++load->overtemp == LOAD_OVERTEMP_MAX) {
+      load->shutdown = true;
+      IO_PORT_CLR(load->pin); // Lo
+      IO_DDR_SET(load->pin);  // Output
+    }
+  } else if (load->overtemp) load->overtemp--;
 }
 
 
 ISR(TIMER0_OVF_vect) {
   static uint8_t tick = 0;
 
-  // Calling these too fast disrupts the I2C bus
-  if ((tick & 3) == 0) limit_load(&loads[0]);
-  if ((tick & 3) == 2) limit_load(&loads[1]);
-
   if (++tick == 31) {
     time++;
     tick = 0;
@@ -426,10 +413,8 @@ int main() {
     if (CURRENT_MAX < get_total_current()) flags |= OVER_CURRENT_FLAG;
     if (shunt_overload) flags |= SHUNT_OVERLOAD_FLAG;
     if (MOTOR_SHUTDOWN_THRESH <= motor_overload) flags |= MOTOR_OVERLOAD_FLAG;
-    if (loads[0].limit == LOAD_LIMIT_TICKS) flags |= LOAD1_OVERTEMP_FLAG;
-    if (loads[1].limit == LOAD_LIMIT_TICKS) flags |= LOAD2_OVERTEMP_FLAG;
-    if (loads[0].limit) flags |= LOAD1_LIMITING_FLAG;
-    if (loads[1].limit) flags |= LOAD2_LIMITING_FLAG;
+    if (loads[0].shutdown) flags |= LOAD1_OVERTEMP_FLAG;
+    if (loads[1].shutdown) flags |= LOAD2_OVERTEMP_FLAG;
 
     regs[FLAGS_REG] = flags;
     if (flags & FATAL_FLAG_MASK) shutdown(flags);