hujun260 opened a new pull request, #3381:
URL: https://github.com/apache/nuttx-apps/pull/3381
## Overview
This PR introduces critical section protection to the Field-Oriented Control
(FOC) motor control examples. It adds a new configuration option
`CONFIG_EXAMPLES_FOC_CONTROL_CRITSEC` that enables atomic critical sections
around the main FOC control loop to prevent race conditions during
concurrent
interrupt and task execution.
## Changes
### Critical Section Support
- Add `CONFIG_EXAMPLES_FOC_CONTROL_CRITSEC` Kconfig option for thread-safe
motor control
- Define `foc_enter_critical()` and `foc_leave_critical()` macros that wrap
`enter_critical_section()` and `leave_critical_section()` APIs
- Apply critical section protection to all FOC control thread variants:
- `foc_float_thr.c` - Floating-point FOC implementation
- `foc_fixed16_thr.c` - Fixed-point (B16) FOC implementation
### Protected Operations
The critical section encompasses:
- Motor queue message handling via `foc_mq_handle()`
- Motor state and control updates via `foc_motor_handle()`
- Device state queries and handling via `foc_dev_state_handle()`
- Motor control calculations via `foc_motor_control()`
- FOC handler execution via `foc_handler_run()`
- Motor state retrieval via `foc_motor_get()`
- Device parameter updates via `foc_dev_params_set()`
## Motivation
The FOC control loop performs complex calculations and state updates that
must
be protected from concurrent access during interrupt handling. Without
critical
section protection:
- Motor control parameters may be partially updated
- ADC measurements and current readings may become inconsistent
- Fault handling and motor state transitions may race with control loop
updates
- Real-time control performance may be compromised
By protecting the entire control loop iteration with a critical section, we
ensure that all state updates are atomic and consistent.
## Implementation Details
### Macro Implementation
When `CONFIG_EXAMPLES_FOC_CONTROL_CRITSEC=y`:
```c
#define foc_enter_critical() irqstate_t intflags = enter_critical_section()
#define foc_leave_critical() leave_critical_section(intflags)
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