commit cc189ef170172fe506ce3362680f766ed302c61a
author raiden00pl <raiden00@railab.me> Fri Apr 21 12:10:10 2023 +0200
committer Alan Carvalho de Assis <alan.carvalho@espressif.com> Mon May 15 13:19:34 2023 -0300
tree 2de60da7d3c7acc1f6d47f21201ddf51ce578f9b
parent 5eebfbb4416e4d979f5641be2aac9f083ea2c63e

examples/foc: add controller IDLE mode

examples/foc/foc_motor_f32.c

diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index 134a0a3..733a2a0 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -531,6 +531,7 @@
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
       case FOC_MMODE_IDENT_ONLY:
 #endif
+      case FOC_MMODE_IDLE:
         {
           /* Do nothing */
 
@@ -1005,6 +1006,11 @@
     }
   else
 #endif
+  if (motor->envp->cfg->mmode == FOC_MMODE_IDLE)
+    {
+      motor->ctrl_state = FOC_CTRL_STATE_IDLE;
+    }
+  else
     {
       motor->ctrl_state = FOC_CTRL_STATE_INIT;
     }

examples/foc/foc_parseargs.c

diff --git a/examples/foc/foc_parseargs.c b/examples/foc/foc_parseargs.c
index f4e669a..fa4de58 100644
--- a/examples/foc/foc_parseargs.c
+++ b/examples/foc/foc_parseargs.c
@@ -113,6 +113,7 @@
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
   PRINTF("       5 - ident only\n");
 #endif
+  PRINTF("       6 - IDLE state\n");
 
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
   PRINTF("  [-r] torque [x1000]\n");
@@ -343,23 +344,23 @@
 
   /* Example control mode */
 
-  if (
+  if (args->cfg.mmode != FOC_MMODE_IDLE &&
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
-    args->cfg.mmode != FOC_MMODE_TORQ &&
+      args->cfg.mmode != FOC_MMODE_TORQ &&
 #endif
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
-    args->cfg.mmode != FOC_MMODE_VEL &&
+      args->cfg.mmode != FOC_MMODE_VEL &&
 #endif
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
-    args->cfg.mmode != FOC_MMODE_POS &&
+      args->cfg.mmode != FOC_MMODE_POS &&
 #endif
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
-    args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
+      args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
 #endif
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
-    args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
+      args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
 #endif
-    1)
+      1)
     {
       PRINTF("Invalid ctrl mode value %d s\n", args->cfg.mmode);
       goto errout;

examples/foc/foc_thr.h

diff --git a/examples/foc/foc_thr.h b/examples/foc/foc_thr.h
index f08a814..6298011 100644
--- a/examples/foc/foc_thr.h
+++ b/examples/foc/foc_thr.h
@@ -79,6 +79,7 @@
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
   FOC_MMODE_IDENT_ONLY = 5,  /* Motor identification only */
 #endif
+  FOC_MMODE_IDLE       = 6,  /* IDLE state */
 };
 
 /* Controller state */