AMC-BLDC: the supervisor needs to manage the motor-hal errors

[valegagge]

Following the work done here robotology/icub-firmware#360 (comment), we want to update the supervisor in order to manage the motor-hal errors: hardware-overcurrent and hall-sequence-error.

Dod

1. The supervisor is updated
2. The code has been generated
3. The code has been tested.

Note: the test is not simple because this error are hw-related, so we need to find a way to simulate them.

[pattacini]

Hi @valegagge

Just for clarification, in which manner the hardware-overcurrent differs from the overcurrent limitation we have implemented in the architectural model?

Is there a low-level check?

[pattacini]

There's also a connection to #15.

[valegagge]

Hi @pattacini!

Hi @valegagge

Just for clarification, in which manner the hardware-overcurrent differs from the overcurrent limitation we have implemented in the architectural model?

Is there a low-level check?

The driver calls this callback in case of faults and here sets the overcurrent flag. For this, I'm referring to an hardware-overcurrent, while in the supervisor, we check if the filtered current goes beyond the configured limit.

[valegagge]

Checking the current code of the AMCBLDC board, the External fault is managed by polling instead of on ISR. So I think to implement the same solution for the hardware over current.

See here and here.

Moreover, I verified that in the 2FOC fw, the hardware over current and software over current are notified to the EMS using the same bit in the status message. Therefore I'll adopt the same solution.

In the future, if we want to distinguish the two faults we need to change the can protocol.

I suppose that the callback pwmMotorFault_cb registered here works properly.

[valegagge]

I just write down some notes how to address this issue:

1. add "HWOverCurrent" in the External Flag struct of the dictionary
2. update the Fault handler in order to check that flag in addition to the measured current.
   As I said before, We use the same flag to notify the sw and hardware cover current.
3. perform supervisor's test and fw tests