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examples/foc: start from the beginning if control loop is started

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After the start request to FOC device, we should return to the
beginning of the loop and wait for the first synchronization event.

This also fixes the problem with the extended first loop cycle,
so we can remove the workaround in foc_perf.
This commit is contained in:
raiden00pl 2023-11-08 12:37:41 +01:00 committed by Xiang Xiao
parent f9a4ace59a
commit 1095aec162
5 changed files with 11 additions and 30 deletions
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9
examples/foc/foc_device.c
View File

@ -144,15 +144,6 @@ int foc_device_start(FAR struct foc_device_s *dev, bool state)
PRINTFV("ERROR: foc_dev_start failed %d!\n", ret);
goto errout;
}
#ifdef CONFIG_EXAMPLES_FOC_PERF
/* Skip this cycle in stats. When the dev is started, many components
* are initialized, which significantly increases the cycle time and
* disturbs the statistics.
*/
foc_perf_skip(&dev->perf);
#endif
}
else
{

4
examples/foc/foc_fixed16_thr.c
View File

@ -386,6 +386,10 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
}
motor.startstop = false;
/* Start from the beginning of the control loop */
continue;
}
/* Ignore control logic if controller not started yet */

4
examples/foc/foc_float_thr.c
View File

@ -399,6 +399,10 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
}
motor.startstop = false;
/* Start from the beginning of the control loop */
continue;
}
/* Ignore control logic if controller not started yet */

22
examples/foc/foc_perf.c
View File

@ -56,15 +56,6 @@ void foc_perf_start(struct foc_perf_s *p)
p->now = perf_gettime();
}
/****************************************************************************
* Name: foc_perf_skip
****************************************************************************/
void foc_perf_skip(struct foc_perf_s *p)
{
p->skip = true;
}
/****************************************************************************
* Name: foc_perf_end
****************************************************************************/
@ -75,16 +66,9 @@ void foc_perf_end(struct foc_perf_s *p)
p->max_changed = false;
if (p->skip == false)
if (p->now > p->max)
{
if (p->now > p->max)
{
p->max = p->now;
p->max_changed = true;
}
p->max = p->now;
p->max_changed = true;
}
/* Reset skip flag */
p->skip = false;
}

2
examples/foc/foc_perf.h
View File

@ -40,7 +40,6 @@
struct foc_perf_s
{
bool max_changed;
bool skip;
uint32_t max;
uint32_t now;
};
@ -51,7 +50,6 @@ struct foc_perf_s
int foc_perf_init(struct foc_perf_s *p);
void foc_perf_start(struct foc_perf_s *p);
void foc_perf_skip(struct foc_perf_s *p);
void foc_perf_end(struct foc_perf_s *p);
#endif /* __APPS_EXAMPLES_FOC_FOC_PERF_H */