Why the motor start with MC_OVER_CURR error?
Hi there,
I have a DIY board similar to EVSPIN32G4. Below is the three-shunt sensing circuit(In internal OpAmps, differential, external gain mode)
Because the STSPING4 doesn't support internal OpAmps, differential, external gain mode, I just use the below config to generate the project(seems differential or single-end does not influence the code, yes?), see the project in the attachment:
And because the EVSPIN32G4 project's encoder and hall sensor use the same GPIO, I only enable the encoder in the MCSDK project.
After generating the code, I added the hall signal pin in STM32CubeMx and then compiled the MDK project successfully.
I added some code trying to find out why the motor isn't working:
uint8_t MC_GetHallValM1(void)
{
uint8_t M_Hall_val;
M_Hall_val = (M_Hall_val & 0xFE) | HAL_GPIO_ReadPin(M_HALL_U_GPIO_Port, M_HALL_U_Pin);
M_Hall_val = (M_Hall_val & 0xFD) | (HAL_GPIO_ReadPin(M_HALL_V_GPIO_Port, M_HALL_V_Pin) << 1);
M_Hall_val = (M_Hall_val & 0xFB) | (HAL_GPIO_ReadPin(M_HALL_W_GPIO_Port, M_HALL_W_Pin) << 2);
return M_Hall_val;
}
uint8_t get_hal_val(void)
{
static uint8_t M_Hall_val_pre = 0;
uint8_t M_Hall_val = MC_GetHallValM1();
if(M_Hall_val != M_Hall_val_pre) {
M_Hall_val_pre = M_Hall_val;
LOG_DBG("HALL[%d], elAngle[%d]\n", M_Hall_val, MC_GetElAngledppMotor1());
}
return M_Hall_val;
}
void check_state(void)
{
static MCI_State_t pre_state = IDLE;
static uint16_t pre_occFault = MC_NO_ERROR, pre_curFault = MC_NO_ERROR;
static MCI_CommandState_t pre_cmdState = MCI_BUFFER_EMPTY;
MCI_State_t state;
uint16_t occFault, curFault;
MCI_CommandState_t cmdState;
state = MC_GetSTMStateMotor1();
occFault = MC_GetOccurredFaultsMotor1();
curFault = MC_GetCurrentFaultsMotor1();
cmdState = MC_GetCommandStateMotor1();
if((pre_state != state) || (pre_occFault != occFault) || (pre_curFault != curFault) || (pre_cmdState != cmdState)) {
LOG_DBG("%4dms, sta[%2d], occF[0x%02X], curF[0x%02X], cmdSta[%d]\n", HAL_GetTick(), state, occFault, curFault, cmdState);
pre_state = state;
pre_occFault = occFault;
pre_curFault = curFault;
pre_cmdState = cmdState;
}
}
void debug_motor_err(void)
{
bool sta_StartM1;
get_hal_val();
check_state();
sta_StartM1 = MC_StartMotor1();
LOG_DBG("MC_StartMotor1[%s]\n", sta_StartM1==true?"true":"false");
check_state();
while(1) {
get_hal_val();
check_state();
}
}I call the debug_motor_err() after MX_NVIC_Init();
And then this code outputs the following LOG:
00> HALL[2], elAngle[0]
00> 4ms, sta[ 0], occF[0x00], curF[0x00], cmdSta[1]
00> MC_StartMotor1[true]
00> 4ms, sta[16], occF[0x00], curF[0x00], cmdSta[1]
00> 14ms, sta[ 0], occF[0x00], curF[0x00], cmdSta[1]
00> 16ms, sta[17], occF[0x00], curF[0x00], cmdSta[1]
00> 16ms, sta[16], occF[0x00], curF[0x00], cmdSta[1]
00> 26ms, sta[ 2], occF[0x00], curF[0x00], cmdSta[1]
00> HALL[6], elAngle[16384]
00> HALL[4], elAngle[16384]
00> HALL[5], elAngle[16384]
00> 727ms, sta[20], occF[0x00], curF[0x00], cmdSta[1]
00> 1127ms, sta[ 6], occF[0x00], curF[0x00], cmdSta[2]
00> 1127ms, sta[ 6], occF[0x00], curF[0x00], cmdSta[0]
00> 1127ms, sta[ 6], occF[0x40], curF[0x40], cmdSta[0]
00> 1128ms, sta[10], occF[0x40], curF[0x00], cmdSta[0]
00> 1129ms, sta[11], occF[0x40], curF[0x00], cmdSta[0]From the LOG, we can see that the hall valve has been changed (the motor is always stopped at a special position where the hall value is 5), and finally it stops.
What's the reason for the error MC_OVER_CURR? How can I resolve it?
BTW, if I change ".DAC_OCP_Threshold = 7427," to ".DAC_OCP_Threshold = 9000,", the motor will be shocked after start. Where does the value 7427 come from?
I am a newbie in motor control. If anything isn't clear, please inform me.
Thank you very much for your help!