1. power report 速度不取绝对值

2. 母线超压实时检测，发现超压立刻停机

Signed-off-by: kevin <huhui@sharkgulf.com>

Applications/bsp/gd32/bsp.h

@@ -45,7 +45,7 @@
 
 #elif defined (CONFIG_BOARD_MC124)
 #define CONFIG_BOARD_MAX_DC 84.0F
-#define CONFIG_CURRENT_SENSOR_CEOF 0.36F
+#define CONFIG_CURRENT_SENSOR_CEOF 0.313F
 #include "bsp/gd32/board_mc105_v3.h"
 #define CONFIG_BOARD_MCXXX
 #define CONFIG_BOARD_NAME "MCXXX"

Applications/foc/motor/motor.c

@@ -194,7 +194,7 @@ static bool mc_detect_vbus_mode(void) {
 #endif
 }
 
-static void _mc_internal_init(u8 mode, bool start) {
+static void mc_internal_init(u8 mode, bool start) {
 	motor.mode = mode;
 	motor.throttle = 0;
 	motor.b_start = start;
@@ -212,7 +212,9 @@ static void _mc_internal_init(u8 mode, bool start) {
 	motor.b_limit_pending = false;
 	motor.f_epm_trq = 0;
 	motor.f_epm_vel = 0;
+	motor.vbus_le_cnt = motor.vbus_he_cnt = 0;
 	motor.s_vbus_hw_min = mc_conf()->c.min_dc_vol;
+	motor.s_vbus_hw_max = mc_conf()->c.max_dc_vol;
 }
 
 static void _led_off_timer_handler(shark_timer_t *t) {
@@ -234,6 +236,7 @@ static void mc_gear_mode_set(void) {
 }
 
 void mc_init(void) {
+	mc_internal_init(CTRL_MODE_OPEN, false);
 	fan_pwm_init();
 	adc_init();
 	pwm_3phase_init();
@@ -301,7 +304,8 @@ float mc_gear_max_torque(s16 vel, u8 gear_n) {
 
 /* 必须立即停机 */
 bool mc_critical_need_stop(void) {
-	u32 mask = FOC_Cri_Err_Mask(FOC_CRIT_IDC_OV) | FOC_Cri_Err_Mask(FOC_CRIT_Angle_Err) | FOC_Cri_Err_Mask(FOC_CRIT_Vol_HW_Err);
+	u32 mask = FOC_Cri_Err_Mask(FOC_CRIT_IDC_OV) | FOC_Cri_Err_Mask(FOC_CRIT_Angle_Err) | FOC_Cri_Err_Mask(FOC_CRIT_Phase_Err) |
+				FOC_Cri_Err_Mask(FOC_CRIT_Vol_HW_Err) | FOC_Cri_Err_Mask(FOC_CRIT_OV_Vol_Err);
 	u32 err = motor.n_CritiCalErrMask & mask;
 	return (err != 0);
 }
@@ -377,7 +381,7 @@ bool mc_start(u8 mode) {
 
 	u32 mask = cpu_enter_critical();
 
-	_mc_internal_init(mode, true);
+	mc_internal_init(mode, true);
 	throttle_torque_reset();
 	motor_encoder_start(true);
 	mot_contrl_start(&motor.controller, mode);
@@ -429,7 +433,7 @@ bool mc_stop(void) {
 	}
 
 	u32 mask = cpu_enter_critical();
-	_mc_internal_init(CTRL_MODE_OPEN, false);
+	mc_internal_init(CTRL_MODE_OPEN, false);
 	adc_stop_convert();
 	pwm_stop();
 	mot_contrl_stop(&motor.controller);
@@ -906,7 +910,7 @@ static void _encoder_zero_off_timer_handler(shark_timer_t *t){
 	adc_stop_convert();
 	pwm_stop();
 	mot_contrl_stop(&motor.controller);
-	_mc_internal_init(CTRL_MODE_OPEN, false);
+	mc_internal_init(CTRL_MODE_OPEN, false);
 	motor.b_calibrate = false;
 }
 
@@ -920,7 +924,7 @@ bool mc_encoder_zero_calibrate(s16 vd) {
 			adc_stop_convert();
 			pwm_stop();
 			mot_contrl_stop(&motor.controller);
-			_mc_internal_init(CTRL_MODE_OPEN, false);
+			mc_internal_init(CTRL_MODE_OPEN, false);
 			motor.b_calibrate = false;
 			motor.b_ignor_throttle = false;
 		}
@@ -933,7 +937,7 @@ bool mc_encoder_zero_calibrate(s16 vd) {
 		mot_contrl_set_error(&motor.controller, FOC_Have_CritiCal_Err);
 		return false;
 	}
-	_mc_internal_init(CTRL_MODE_OPEN, true);
+	mc_internal_init(CTRL_MODE_OPEN, true);
 	motor.b_calibrate = true;
 	pwm_turn_on_low_side();
 	task_udelay(500);
@@ -1179,7 +1183,7 @@ void MC_Protect_IRQHandler(void){
 	}
 	mc_set_critical_error(FOC_CRIT_Phase_Err);
 	mc_save_err_runtime();
-	_mc_internal_init(CTRL_MODE_OPEN, false);
+	mc_internal_init(CTRL_MODE_OPEN, false);
 	adc_stop_convert();
 	pwm_stop();
 	mot_contrl_stop(&motor.controller);
@@ -1195,12 +1199,10 @@ void motor_debug(void) {
 	sys_debug("err3: %f, %d, %d, %d, %d\n", (float)mc_error.ibus_x10/10.0f, mc_error.sensorless_rpm, mc_error.mos_temp, mc_error.mot_temp, mc_error.enc_error);
 }
 
-static void motor_vbus_crit_low(s16 curr_vbus) {
-	static u16 _vbus_e_count = 0;
-
-	if (curr_vbus < motor.s_vbus_hw_min) {
-		_vbus_e_count ++;
-		if (_vbus_e_count >= 2) {
+static void motor_vbus_crit_check(s16 curr_vbus) {
+	if (curr_vbus <= motor.s_vbus_hw_min) {
+		motor.vbus_le_cnt ++;
+		if (motor.vbus_le_cnt >= 2) {
 			if (mot_contrl_is_start(&motor.controller)) {
 				pwm_disable_channel();
 				mc_save_err_runtime();
@@ -1213,14 +1215,31 @@ static void motor_vbus_crit_low(s16 curr_vbus) {
 			}
 		}
 	}else {
-		_vbus_e_count = 0;
+		motor.vbus_le_cnt = 0;
+	}
+	if (curr_vbus >= motor.s_vbus_hw_max) {
+		motor.vbus_he_cnt ++;
+		if (motor.vbus_he_cnt >= 2) {
+			if (mot_contrl_is_start(&motor.controller)) {
+				pwm_disable_channel();
+				mc_save_err_runtime();
+				mot_contrl_stop(&motor.controller);
+			}
+			if (mc_set_critical_error(FOC_CRIT_OV_Vol_Err)) {
+				if (mot_contrl_get_speed(&motor.controller) > CONFIG_ZERO_SPEED_RPM) {
+					mc_crit_err_add_s16(FOC_CRIT_OV_Vol_Err, curr_vbus);
+				}
+			}
+		}
+	}else {
+		motor.vbus_he_cnt = 0;
 	}
 }
 
 void TIMER_UP_IRQHandler(void){
 	if (!motor.b_start && !mot_contrl_is_start(&motor.controller)) {
 		motor_encoder_update(false);
-		motor_vbus_crit_low((s16)get_vbus_int());
+		motor_vbus_crit_check((s16)get_vbus_int());
 	}
 }
 
@@ -1253,7 +1272,7 @@ void ADC_IRQHandler(void) {
 		iab_w_count ++;
 	}
 #endif
-	motor_vbus_crit_low((s16)sample_vbus_raw()); //need fast detect vbus very low, to stop the motor
+	motor_vbus_crit_check((s16)sample_vbus_raw()); //need fast detect vbus very low, to stop the motor
 	float vd, vq;
 	if (motor.b_ind_start) {
 		mot_params_high_freq_inject();
@@ -1502,11 +1521,14 @@ static bool mc_can_stop_foc(void) {
 }
 
 static bool mc_can_restart_foc(void) {
-	bool can_start = (!mc_throttle_released() || (motor.epm_dir != EPM_Dir_None)) && (!mc_critical_can_not_run());
+	if (mc_critical_can_not_run()) {
+		return false;
+	}
+	bool can_start = (!mc_throttle_released() || (motor.epm_dir != EPM_Dir_None));
 	if (!foc_observer_is_encoder() && !foc_observer_sensorless_stable()){
 		return false;
 	}
-	if ((motor.s_target_speed != MAX_S16 && motor.s_target_speed != 0) && (!mc_critical_can_not_run()) && motor.mode == CTRL_MODE_SPD) {
+	if ((motor.s_target_speed != MAX_S16 && motor.s_target_speed != 0) && motor.mode == CTRL_MODE_SPD) {
 		return true;
 	}
 	return can_start;

Applications/foc/motor/motor.h

@@ -65,6 +65,9 @@ typedef struct {
 	u8     mos_lim;
 	u8     motor_lim;
 	s16    s_vbus_hw_min;
+	s16    s_vbus_hw_max;
+	u16    vbus_le_cnt;
+    u16    vbus_he_cnt;
 	s16    s_target_speed;
 	s16    s_force_torque;
 	u8     gear_last;

Applications/prot/can_foc_msg.c

@@ -23,7 +23,7 @@ void can_report_power(u8 can) {
 	s16 v = S16Q5(vDC);
 	s16 i = S16Q5(iDC);
 	encoder_can_key(data, CMD_2_CAN_KEY(Foc_Report_Power));
-	encode_s16(data + 2, ABS(rpm));
+	encode_s16(data + 2, rpm);
 	encode_s16(data + 4, v);
 	encode_s16(data + 6, i);
 	can_send_message(get_indicator_can_id(can), data, sizeof(data), 0);