diff --git a/include/industry/foc/fixed16/foc_angle.h b/include/industry/foc/fixed16/foc_angle.h
index 28fad7a52..721d3f962 100644
--- a/include/industry/foc/fixed16/foc_angle.h
+++ b/include/industry/foc/fixed16/foc_angle.h
@@ -76,9 +76,9 @@ struct foc_angle_ops_b16_s
 
   /* Run */
 
-  CODE void (*run)(FAR foc_angle_b16_t *h,
-                   FAR struct foc_angle_in_b16_s *in,
-                   FAR struct foc_angle_out_b16_s *out);
+  CODE int (*run)(FAR foc_angle_b16_t *h,
+                  FAR struct foc_angle_in_b16_s *in,
+                  FAR struct foc_angle_out_b16_s *out);
 };
 
 /* Angle handler - sensor or sensorless */
@@ -135,8 +135,8 @@ int foc_angle_cfg_b16(FAR foc_angle_b16_t *h, FAR void *cfg);
  * Name: foc_angle_run_b16
  ****************************************************************************/
 
-void foc_angle_run_b16(FAR foc_angle_b16_t *h,
-                       FAR struct foc_angle_in_b16_s *in,
-                       FAR struct foc_angle_out_b16_s *out);
+int foc_angle_run_b16(FAR foc_angle_b16_t *h,
+                      FAR struct foc_angle_in_b16_s *in,
+                      FAR struct foc_angle_out_b16_s *out);
 
 #endif /* __INDUSTRY_FOC_FIXED16_FOC_ANGLE_H */
diff --git a/include/industry/foc/float/foc_angle.h b/include/industry/foc/float/foc_angle.h
index 1ffb53416..14f38f24f 100644
--- a/include/industry/foc/float/foc_angle.h
+++ b/include/industry/foc/float/foc_angle.h
@@ -76,9 +76,9 @@ struct foc_angle_ops_f32_s
 
   /* Run angle handler */
 
-  CODE void (*run)(FAR foc_angle_f32_t *h,
-                   FAR struct foc_angle_in_f32_s *in,
-                   FAR struct foc_angle_out_f32_s *out);
+  CODE int (*run)(FAR foc_angle_f32_t *h,
+                  FAR struct foc_angle_in_f32_s *in,
+                  FAR struct foc_angle_out_f32_s *out);
 };
 
 /* Angle handler - sensor or sensorless */
@@ -135,8 +135,8 @@ int foc_angle_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg);
  * Name: foc_angle_run_f32
  ****************************************************************************/
 
-void foc_angle_run_f32(FAR foc_angle_f32_t *h,
-                       FAR struct foc_angle_in_f32_s *in,
-                       FAR struct foc_angle_out_f32_s *out);
+int foc_angle_run_f32(FAR foc_angle_f32_t *h,
+                      FAR struct foc_angle_in_f32_s *in,
+                      FAR struct foc_angle_out_f32_s *out);
 
 #endif /* __INDUSTRY_FOC_FLOAT_FOC_ANGLE_H */
diff --git a/industry/foc/fixed16/foc_angle.c b/industry/foc/fixed16/foc_angle.c
index 2f255f10a..79f4b1bdc 100644
--- a/industry/foc/fixed16/foc_angle.c
+++ b/industry/foc/fixed16/foc_angle.c
@@ -143,7 +143,7 @@ int foc_angle_cfg_b16(FAR foc_angle_b16_t *h, FAR void *cfg)
  *
  ****************************************************************************/
 
-void foc_angle_run_b16(FAR foc_angle_b16_t *h,
+int foc_angle_run_b16(FAR foc_angle_b16_t *h,
                        FAR struct foc_angle_in_b16_s *in,
                        FAR struct foc_angle_out_b16_s *out)
 {
@@ -153,5 +153,5 @@ void foc_angle_run_b16(FAR foc_angle_b16_t *h,
 
   /* Run angle handler */
 
-  h->ops->run(h, in, out);
+  return h->ops->run(h, in, out);
 }
diff --git a/industry/foc/float/foc_angle.c b/industry/foc/float/foc_angle.c
index 8673e789f..ece477255 100644
--- a/industry/foc/float/foc_angle.c
+++ b/industry/foc/float/foc_angle.c
@@ -143,9 +143,9 @@ int foc_angle_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg)
  *
  ****************************************************************************/
 
-void foc_angle_run_f32(FAR foc_angle_f32_t *h,
-                       FAR struct foc_angle_in_f32_s *in,
-                       FAR struct foc_angle_out_f32_s *out)
+int foc_angle_run_f32(FAR foc_angle_f32_t *h,
+                      FAR struct foc_angle_in_f32_s *in,
+                      FAR struct foc_angle_out_f32_s *out)
 {
   DEBUGASSERT(h);
   DEBUGASSERT(in);
@@ -153,5 +153,5 @@ void foc_angle_run_f32(FAR foc_angle_f32_t *h,
 
   /* Run angle handler */
 
-  h->ops->run(h, in, out);
+  return h->ops->run(h, in, out);
 }