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Motor current monitoring and overload protection on STM32 #584

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opened 2026-03-14 12:15:37 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 12:15:37 -04:00
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Implement motor current sensing and overload protection.Requirements:- Read motor current via ADC (per-wheel if available)- Configurable overload threshold (default 5A per motor)- Soft current limiting: reduce PWM when approaching threshold- Hard cutoff: disable motor driver on sustained overload (>2s)- Publish current readings via JLINK telemetry (TLM_MOTOR_CURRENT)- Fault log entry on overload event- Auto-recovery after cooldown period (10s default)Deliverables:- src/motor_current.c/h- JLINK protocol additions- Integration with existing motor driverAssigned to: sl-controls

Implement motor current sensing and overload protection.**Requirements:**- Read motor current via ADC (per-wheel if available)- Configurable overload threshold (default 5A per motor)- Soft current limiting: reduce PWM when approaching threshold- Hard cutoff: disable motor driver on sustained overload (>2s)- Publish current readings via JLINK telemetry (TLM_MOTOR_CURRENT)- Fault log entry on overload event- Auto-recovery after cooldown period (10s default)**Deliverables:**- src/motor_current.c/h- JLINK protocol additions- Integration with existing motor driverAssigned to: sl-controls
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#584
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