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commit 8ee684e586e4dcd2c07fab3889499ce9381c0c60
Author: raiden00pl <raide...@railab.me>
AuthorDate: Mon Oct 16 14:14:47 2023 +0200
industry/foc: make direction alignment configurable
for sensorless velocity controller (ESC) we don't need to align the
direction,
but we have to align the initial motor phase each time the motor start
---
examples/foc/foc_motor_b16.c | 2 ++
examples/foc/foc_motor_f32.c | 2 ++
industry/foc/Kconfig | 6 ++++++
industry/foc/fixed16/foc_align.c | 6 ++++++
industry/foc/float/foc_align.c | 6 ++++++
5 files changed, 22 insertions(+)
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index 2fe9dfd2c..50bcefc85 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -118,7 +118,9 @@ static int foc_motor_align(FAR struct foc_motor_b16_s
*motor, FAR bool *done)
}
PRINTF("Aling results:\n");
+#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
PRINTF(" dir = %.2f\n", b16tof(final.dir));
+#endif
PRINTF(" offset = %.2f\n", b16tof(final.offset));
*done = true;
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index ead7e56b3..8b7e6ee54 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -118,7 +118,9 @@ static int foc_motor_align(FAR struct foc_motor_f32_s
*motor, FAR bool *done)
}
PRINTF("Aling results:\n");
+#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
PRINTF(" dir = %.2f\n", final.dir);
+#endif
PRINTF(" offset = %.2f\n", final.offset);
*done = true;
diff --git a/industry/foc/Kconfig b/industry/foc/Kconfig
index 15719f6c9..983bfe262 100644
--- a/industry/foc/Kconfig
+++ b/industry/foc/Kconfig
@@ -135,6 +135,12 @@ config INDUSTRY_FOC_ALIGN
if INDUSTRY_FOC_ALIGN
+config INDUSTRY_FOC_ALIGN_DIR
+ bool "FOC alignment direction support"
+ default n
+ ---help---
+ Enable support for sensor direction alignment
+
config INDUSTRY_FOC_ALIGN_INDEX
bool "FOC alignment index search support"
default n
diff --git a/industry/foc/fixed16/foc_align.c b/industry/foc/fixed16/foc_align.c
index 0f0ecbee5..063ab75ec 100644
--- a/industry/foc/fixed16/foc_align.c
+++ b/industry/foc/fixed16/foc_align.c
@@ -75,7 +75,9 @@ enum foc_align_run_stage_e
FOC_ALIGN_RUN_INDEX,
#endif
FOC_ALIGN_RUN_OFFSET,
+#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
FOC_ALIGN_RUN_DIR,
+#endif
FOC_ALIGN_RUN_IDLE,
FOC_ALIGN_RUN_DONE
};
@@ -347,6 +349,7 @@ errout:
return ret;
}
+#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
/****************************************************************************
* Name: foc_align_dir_move_b16
****************************************************************************/
@@ -663,6 +666,7 @@ errout:
return ret;
}
+#endif
/****************************************************************************
* Name: foc_align_idle_run_b16
@@ -910,6 +914,7 @@ int foc_routine_align_run_b16(FAR foc_routine_b16_t *r,
break;
}
+#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
case FOC_ALIGN_RUN_DIR:
{
/* Align direction procedure */
@@ -930,6 +935,7 @@ int foc_routine_align_run_b16(FAR foc_routine_b16_t *r,
break;
}
+#endif
case FOC_ALIGN_RUN_IDLE:
{
diff --git a/industry/foc/float/foc_align.c b/industry/foc/float/foc_align.c
index a7ff85aec..d398e6352 100644
--- a/industry/foc/float/foc_align.c
+++ b/industry/foc/float/foc_align.c
@@ -75,8 +75,10 @@ enum foc_align_run_stage_e
FOC_ALIGN_RUN_INDEX,
#endif
FOC_ALIGN_RUN_OFFSET,
+#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
FOC_ALIGN_RUN_DIR,
FOC_ALIGN_RUN_IDLE,
+#endif
FOC_ALIGN_RUN_DONE
};
@@ -347,6 +349,7 @@ errout:
return ret;
}
+#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
/****************************************************************************
* Name: foc_align_dir_move_f32
****************************************************************************/
@@ -709,6 +712,7 @@ static int foc_align_idle_run_f32(FAR struct
foc_align_f32_s *align,
return ret;
}
+#endif
/****************************************************************************
* Name: foc_routine_align_init_f32
@@ -910,6 +914,7 @@ int foc_routine_align_run_f32(FAR foc_routine_f32_t *r,
break;
}
+#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
case FOC_ALIGN_RUN_DIR:
{
/* Align direction procedure */
@@ -951,6 +956,7 @@ int foc_routine_align_run_f32(FAR foc_routine_f32_t *r,
break;
}
+#endif
case FOC_ALIGN_RUN_DONE:
{
