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examples/foc: refactor control loop

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1. get FOC device state at the beginning of the loop
2. simplify if-else block
This commit is contained in:
raiden00pl 2023-10-20 16:30:40 +02:00 committed by Xiang Xiao
parent 388256b7d7
commit 73ab7dedd4
2 changed files with 164 additions and 160 deletions
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30
examples/foc/foc_fixed16_thr.c
View File

@ -339,6 +339,18 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
while (motor.mq.quit == false)
{
if (motor.mq.start == true)
{
/* Get FOC device state */
ret = foc_dev_state_get(&dev);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_state_get failed %d!\n", ret);
goto errout;
}
}
PRINTFV("foc_fixed16_thr %d %d\n", envp->id, motor.time);
/* Handle mqueue */
@ -376,17 +388,12 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
motor.startstop = false;
}
/* Run control logic if controller started */
/* Ignore control logic if controller not started yet */
if (motor.mq.start == true)
if (motor.mq.start == false)
{
/* Get FOC device state */
ret = foc_dev_state_get(&dev);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_state_get failed %d!\n", ret);
goto errout;
usleep(1000);
continue;
}
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
@ -487,11 +494,6 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
PRINTF("TERMINATE CTRL THREAD\n");
goto errout;
}
}
else
{
usleep(1000);
}
/* Increase counter */

30
examples/foc/foc_float_thr.c
View File

@ -352,6 +352,18 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
while (motor.mq.quit == false)
{
if (motor.mq.start == true)
{
/* Get FOC device state */
ret = foc_dev_state_get(&dev);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_state_get failed %d!\n", ret);
goto errout;
}
}
PRINTFV("foc_float_thr %d %d\n", envp->id, motor.time);
/* Handle mqueue */
@ -389,17 +401,12 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
motor.startstop = false;
}
/* Run control logic if controller started */
/* Ignore control logic if controller not started yet */
if (motor.mq.start == true)
if (motor.mq.start == false)
{
/* Get FOC device state */
ret = foc_dev_state_get(&dev);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_state_get failed %d!\n", ret);
goto errout;
usleep(1000);
continue;
}
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
@ -500,11 +507,6 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
PRINTF("TERMINATE CTRL THREAD\n");
goto errout;
}
}
else
{
usleep(1000);
}
/* Increase counter */