add MOTOR_ERROR_MODULATION_IS_NAN

matevzsi · Aug 23, 2020 · f59c805 · f59c805
1 parent f52c68b
commit f59c805
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diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
@@ -260,6 +260,8 @@ bool Motor::run_calibration() {
 }
 
 bool Motor::enqueue_modulation_timings(float mod_alpha, float mod_beta) {
+    if (std::isnan(mod_alpha) || std::isnan(mod_alpha))
+        return set_error(ERROR_MODULATION_IS_NAN), false;
     float tA, tB, tC;
     if (SVM(mod_alpha, mod_beta, &tA, &tB, &tC) != 0)
         return set_error(ERROR_MODULATION_MAGNITUDE), false;

diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
@@ -604,6 +604,7 @@ interfaces:
           BrakeDutyCycleNan:
           DcBusOverRegenCurrent: {doc: too much current pushed into the power supply}
           DcBusOverCurrent: {doc: too much current pulled out of the power supply}
+          ModulationIsNan:
       armed_state:
         typeargs: {fibre.Property.mode: readonly}
         values:

diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
@@ -115,6 +115,7 @@
 MOTOR_ERROR_BRAKE_DUTY_CYCLE_NAN         = 0x00002000
 MOTOR_ERROR_DC_BUS_OVER_REGEN_CURRENT    = 0x00004000
 MOTOR_ERROR_DC_BUS_OVER_CURRENT          = 0x00008000
+MOTOR_ERROR_MODULATION_IS_NAN            = 0x00010000
 
 # ODrive.Motor.ArmedState
 ARMED_STATE_DISARMED                     = 0