raiden00pl commented on a change in pull request #867:
URL:
https://github.com/apache/incubator-nuttx-apps/pull/867#discussion_r739486377
##########
File path: include/industry/foc/foc_common.h
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@@ -71,6 +71,15 @@ enum foc_ramp_mode_e
RAMP_MODE_NORMAL = 3, /* Normal operation */
};
+/* Angle handler type */
+
+enum foc_angle_type_e
+{
+ FOC_ANGLE_TYPE_INVALID = 0, /* Reserved */
+ FOC_ANGLE_TYPE_ELE = 1, /* Electrical angle */
+ FOC_ANGLE_TYPE_MECH = 2, /* Mechanical angle */
Review comment:
There are 2 possible motor angle sensors:
1. the electrical angle sensors (which is the angle between motor poles)
like Hall-sensor or observer-based angle estimation
2. the mechanical angle sensors (which is the angle of motor shaft vs motor
stator) like encoder
The FOC algorithm requires an electrical angle as input, so we must known if
the value obtained requires conversion to an electrical angle or not.
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