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examples/foc/foc_main.c: fix de-initialization sequence

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raiden00pl 2023-05-05 11:57:21 +02:00 committed by Alan Carvalho de Assis
parent cc189ef170
commit beb5369a0d
1 changed files with 15 additions and 11 deletions
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26
examples/foc/foc_main.c
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@ -228,7 +228,7 @@ int main(int argc, char *argv[])
if (ret < 0)
{
PRINTF("ERROR: validate args failed\n");
goto errout_no_mutex;
goto errout_no_threads;
}
#ifndef CONFIG_NSH_ARCHINIT
@ -251,7 +251,7 @@ int main(int argc, char *argv[])
if (ret < 0)
{
PRINTF("ERROR: failed to initialize threads %d\n", ret);
goto errout_no_mutex;
goto errout_no_intf;
}
/* Initialize control interface */
@ -450,6 +450,16 @@ int main(int argc, char *argv[])
errout:
/* De-initialize control interface */
ret = foc_intf_deinit();
if (ret < 0)
{
PRINTF("ERROR: foc_inf_deinit failed %d\n", ret);
}
errout_no_intf:
/* Stop FOC control threads */
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
@ -491,18 +501,12 @@ errout:
}
}
/* De-initialize control interface */
/* De-initialize control threads */
ret = foc_intf_deinit();
if (ret < 0)
{
PRINTF("ERROR: foc_inf_deinit failed %d\n", ret);
goto errout;
}
errout_no_mutex:
foc_threads_deinit();
errout_no_threads:
PRINTF("foc_main exit\n");
return 0;
}