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industry/foc: fix direction alignment #2204

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merged 1 commit into from
Nov 18, 2023
Merged

industry/foc: fix direction alignment #2204

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9 changes: 7 additions & 2 deletions industry/foc/fixed16/foc_align.c
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Original file line number Diff line number Diff line change
Expand Up @@ -402,6 +402,8 @@ static void foc_align_dir_move_b16(FAR struct foc_align_b16_s *align,
static void foc_align_dir_hold_b16(FAR struct foc_align_b16_s *align,
b16_t dir, bool last, bool diff)
{
b16_t tmp = 0;

DEBUGASSERT(align);

/* Lock angle */
Expand All @@ -422,13 +424,16 @@ static void foc_align_dir_hold_b16(FAR struct foc_align_b16_s *align,

if (diff == true)
{
tmp = align->angle_now - align->angle_last;
angle_norm_2pi_b16(&tmp, -b16PI, b16PI);

if (dir == DIR_CW_B16)
{
align->diff_cw += (align->angle_now - align->angle_last);
align->diff_cw += tmp;
}
else if (dir == DIR_CCW_B16)
{
align->diff_ccw += (align->angle_now - align->angle_last);
align->diff_ccw += tmp;
}
else
{
Expand Down
9 changes: 7 additions & 2 deletions industry/foc/float/foc_align.c
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Original file line number Diff line number Diff line change
Expand Up @@ -402,6 +402,8 @@ static void foc_align_dir_move_f32(FAR struct foc_align_f32_s *align,
static void foc_align_dir_hold_f32(FAR struct foc_align_f32_s *align,
float dir, bool last, bool diff)
{
float tmp = 0.0f;

DEBUGASSERT(align);

/* Lock angle */
Expand All @@ -422,13 +424,16 @@ static void foc_align_dir_hold_f32(FAR struct foc_align_f32_s *align,

if (diff == true)
{
tmp = align->angle_now - align->angle_last;
angle_norm_2pi(&tmp, -M_PI_F, M_PI_F);

if (dir == DIR_CW)
{
align->diff_cw += (align->angle_now - align->angle_last);
align->diff_cw += tmp;
}
else if (dir == DIR_CCW)
{
align->diff_ccw += (align->angle_now - align->angle_last);
align->diff_ccw += tmp;
}
else
{
Expand Down
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