[GitHub] [incubator-nuttx-apps] raiden00pl commented on a diff in pull request #1174: industry/foc foc_ident: add the flux linkage identification

[GitBox <gi...@apache.org>]

raiden00pl commented on code in PR #1174:
URL: https://github.com/apache/incubator-nuttx-apps/pull/1174#discussion_r885286106


##########
industry/foc/float/foc_ident.c:
##########
@@ -331,6 +345,121 @@ int foc_ident_ind_run_f32(FAR struct foc_ident_f32_s *ident,
   return ret;
 }
 
+/****************************************************************************
+ * Name: foc_ident_fluxlink_run_f32
+ *
+ * Description:
+ *   Run flux linkage identification routine
+ *
+ * Input Parameter:
+ *   ident - pointer to FOC ident routine
+ *   in    - pointer to FOC routine input data
+ *   out   - pointer to FOC routine output data
+ *
+ ****************************************************************************/
+
+int foc_ident_fluxlink_run_f32(FAR struct foc_ident_f32_s *ident,
+                               FAR struct foc_routine_in_f32_s *in,
+                               FAR struct foc_routine_out_f32_s *out)
+{
+  int   ret  = FOC_ROUTINE_RUN_NOTDONE;
+  float curr_avg  = 0.0f;
+  float volt_avg  = 0.0f;
+  static float dir    = DIR_CW;
+  static float vq_sum = 0.0f;
+  static float vd_sum = 0.0f;
+  static float iq_sum = 0.0f;
+  static float id_sum = 0.0f;
+  static float vel = 0.0f;
+  static int aveg_sum  = 0;
+
+  if (ident->cfg.cb.angle != NULL)
+    {
+      /* Update openloop angle by angle callbacks */
+
+      out->angle = ident->cfg.cb.angle(ident->cfg.cb.priv_angle, vel, dir);
+    }
+
+  if (ident->cfg.cb.speed != NULL)
+    {
+      /* Update openloop speed by speed callbacks */
+
+      vel = ident->cfg.cb.speed(ident->cfg.cb.priv_speed,
+                                ident->cfg.flux_vel, vel);
+    }

Review Comment:
   Does this whole procedure make sense when callbacks are not defined ? If not, maybe we should check if callbacks are defined during the initialization of identification routine ? and return error if not defined. 
   Then here we can just add:
   
    DEBUGASSERT(ident->cfg.cb.zero != NULL);
   DEBUGASSERT(ident->cfg.cb.angle != NULL);
   DEBUGASSERT(ident->cfg.cb.speed != NULL);



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