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commit 55b296a5c6135b09a63ca1ac6e8bc00f7836f171 Author: raiden00pl <[email protected]> AuthorDate: Wed May 17 12:31:07 2023 +0200 examples/foc/foc_thr: get controller type from controller ID --- examples/foc/foc_thr.c | 56 ++++++++++++++++++++++++++++++++++---------------- examples/foc/foc_thr.h | 1 + 2 files changed, 39 insertions(+), 18 deletions(-) diff --git a/examples/foc/foc_thr.c b/examples/foc/foc_thr.c index 83b39ce5a..a84efc2a7 100644 --- a/examples/foc/foc_thr.c +++ b/examples/foc/foc_thr.c @@ -35,6 +35,17 @@ #include "industry/foc/foc_common.h" +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#ifndef CONFIG_EXAMPLES_FOC_FLOAT_INST +# define CONFIG_EXAMPLES_FOC_FLOAT_INST (0) +#endif +#ifndef CONFIG_EXAMPLES_FOC_FIXED16_INST +# define CONFIG_EXAMPLES_FOC_FIXED16_INST (0) +#endif + /**************************************************************************** * Extern Functions Prototypes ****************************************************************************/ @@ -80,30 +91,14 @@ static FAR void *foc_control_thr(FAR void *arg) /* Get controller type */ - pthread_mutex_lock(&g_cntr_lock); - -#ifdef CONFIG_INDUSTRY_FOC_FLOAT - if (g_float_thr_cntr < CONFIG_EXAMPLES_FOC_FLOAT_INST) - { - envp->type = FOC_NUMBER_TYPE_FLOAT; - } - else -#endif -#ifdef CONFIG_INDUSTRY_FOC_FIXED16 - if (g_fixed16_thr_cntr < CONFIG_EXAMPLES_FOC_FIXED16_INST) - { - envp->type = FOC_NUMBER_TYPE_FIXED16; - } - else -#endif + envp->type = foc_thread_type(envp->id); + if (envp->type == -1) { /* Invalid configuration */ ASSERT(0); } - pthread_mutex_unlock(&g_cntr_lock); - PRINTF("FOC device %d type = %d!\n", envp->id, envp->type); /* Get queue name */ @@ -283,6 +278,31 @@ uint32_t foc_threads_get(void) return ret; } +/**************************************************************************** + * Name: foc_thread_type + ****************************************************************************/ + +int foc_thread_type(int id) +{ + int ret = -1; + +#ifdef CONFIG_INDUSTRY_FOC_FLOAT + if (id < CONFIG_EXAMPLES_FOC_FLOAT_INST) + { + ret = FOC_NUMBER_TYPE_FLOAT; + } +#endif + +#ifdef CONFIG_INDUSTRY_FOC_FIXED16 + if (id < CONFIG_EXAMPLES_FOC_FLOAT_INST + CONFIG_EXAMPLES_FOC_FIXED16_INST) + { + ret = FOC_NUMBER_TYPE_FIXED16; + } +#endif + + return ret; +} + /**************************************************************************** * Name: foc_ctrlthr_init ****************************************************************************/ diff --git a/examples/foc/foc_thr.h b/examples/foc/foc_thr.h index 3c6d1fb9a..e3d8f1b41 100644 --- a/examples/foc/foc_thr.h +++ b/examples/foc/foc_thr.h @@ -126,6 +126,7 @@ int foc_threads_init(void); void foc_threads_deinit(void); bool foc_threads_terminated(void); uint32_t foc_threads_get(void); +int foc_thread_type(int id); int foc_ctrlthr_init(FAR struct foc_ctrl_env_s *foc, int i, FAR mqd_t *mqd, FAR pthread_t *thread);
