raiden00pl opened a new pull request, #2752:
URL: https://github.com/apache/nuttx-apps/pull/2752
## Summary
* examples/foc: fix snprintf warning
fix snprintf warning:
foc_thr.c:110:39: warning: '%d' directive output may be truncated
writing between 1 and 11 bytes into a region of size 7 [-Wformat-truncation=]
110 | snprintf(mqname, sizeof(mqname), "%s%d",
CONTROL_MQ_MQNAME, envp->id);
| ^~
foc_thr.c:110:36: note: directive argument in the range
[-2147483648, 0]
110 | snprintf(mqname, sizeof(mqname), "%s%d",
CONTROL_MQ_MQNAME, envp->id);
| ^~~~~~
foc_thr.c:110:3: note: 'snprintf' output between 5 and 15 bytes into
a destination of size 10
110 | snprintf(mqname, sizeof(mqname), "%s%d",
CONTROL_MQ_MQNAME, envp->id);
|
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* examples/foc: fix compilation error
fix compilatgion error:
foc_motor_f32.c: In function 'foc_motor_init':
foc_motor_f32.c:1574:7: error: label 'errout' used but not defined
1574 | goto errout;
* examples/foc: improve perf monitor
improve FOC perf monitor:
- add options to choose when perf result should be printed
- measure the controller thread call period
* examples/foc: fix option that disable motor controller
fix some compiler error when EXAMPLES_FOC_RUN_DISABLE is enabled
* examples/foc: print aling results only when verbose output enabled
it is a costly operation that takes a lot of time and is not of much
value
* examples/foc: ignore error for align and ident routines when motor
controller disabled
CONFIG_EXAMPLES_FOC_RUN_DISABLE option is used for tests and benchmarks,
so we don't
care about wrong results for motor identification and sensor alignment
routines
* examples/foc: protect control loop with critical section
If the controller frequency is high, system timer interrupts will
eventually interrupt the controller function, thereby increasing the
execution time. This may lead to skipping the control cycle, which
negatively affects the control algorithm.
With this option enabled, interrupts are disabled for the duration
of the controller function execution.
Here example results from CONFIG_EXAMPLES_FOC_PERF output
for b-g431b-esc1 board with CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ=10000:
1. CONFIG_EXAMPLES_FOC_CONTROL_CRITSEC=n
exec ticks=5258
nsec=30929
per ticks=21268
nsec=125105
2. CONFIG_EXAMPLES_FOC_CONTROL_CRITSEC=y
exec ticks=3428
nsec=20164
per ticks=19203
nsec=112958
The difference is ~12us!
## Impact
various improvements for FOC example which can help verify the "hard
real-time" performances of NuttX (missing the control algorithm deadlines in
the case of FOC may have critical consequences for the system)
## Testing
b-g431b-esc1 board
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