From 292b0cbc2839e8baf2e7df8ad718d1ff20fe9268 Mon Sep 17 00:00:00 2001
From: raiden00pl <raiden00@railab.me>
Date: Sun, 15 Oct 2023 16:34:21 +0200
Subject: [PATCH] examples/foc: change the velocity ramp parameters scale to x1

controlling the ramp with greather accuracy makes no practical sense
---
 examples/foc/Kconfig         | 6 +++---
 examples/foc/foc_cfg.h       | 6 +++---
 examples/foc/foc_motor_b16.c | 4 ++--
 examples/foc/foc_motor_f32.c | 4 ++--
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/examples/foc/Kconfig b/examples/foc/Kconfig
index f48d53db3..517c304bb 100644
--- a/examples/foc/Kconfig
+++ b/examples/foc/Kconfig
@@ -568,15 +568,15 @@ config EXAMPLES_FOC_IDQ_KI
 endif #EXAMPLES_FOC_CONTROL_PI
 
 config EXAMPLES_FOC_RAMP_THR
-	int "FOC velocity ramp threshold [x1000]"
+	int "FOC velocity ramp threshold [x1]"
 	default 0
 
 config EXAMPLES_FOC_RAMP_ACC
-	int "FOC velocity ramp acc [x1000]"
+	int "FOC velocity ramp acc [x1]"
 	default 0
 
 config EXAMPLES_FOC_RAMP_DEC
-	int "FOC velocity ramp dec [x1000]"
+	int "FOC velocity ramp dec [x1]"
 	default 0
 
 config EXAMPLES_FOC_HAVE_ALIGN
diff --git a/examples/foc/foc_cfg.h b/examples/foc/foc_cfg.h
index b8b0bad24..d2e8632cb 100644
--- a/examples/foc/foc_cfg.h
+++ b/examples/foc/foc_cfg.h
@@ -116,7 +116,7 @@
 
 /* Velocity ramp configuration */
 
-#define RAMP_CFG_THR (CONFIG_EXAMPLES_FOC_RAMP_THR / 1000.0f)
+#define RAMP_CFG_THR (CONFIG_EXAMPLES_FOC_RAMP_THR / 1.0f)
 
 #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
 
@@ -237,8 +237,8 @@ struct foc_thr_cfg_s
 #endif
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
   uint32_t velmax;              /* Velocity max (x1000) */
-  uint32_t acc;                 /* Acceleration (x1000) */
-  uint32_t dec;                 /* Deceleration (x1000) */
+  uint32_t acc;                 /* Acceleration (x1) */
+  uint32_t dec;                 /* Deceleration (x1) */
 #endif
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
   uint32_t posmax;              /* Position max (x1000) */
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index 06e79555f..64f26240c 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -307,8 +307,8 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
   ret = foc_ramp_init_b16(&motor->ramp,
                           motor->per,
                           ftob16(RAMP_CFG_THR),
-                          ftob16((motor->envp->cfg->acc / 1000.0f)),
-                          ftob16((motor->envp->cfg->dec / 1000.0f)));
+                          ftob16((motor->envp->cfg->acc / 1.0f)),
+                          ftob16((motor->envp->cfg->dec / 1.0f)));
   if (ret < 0)
     {
       PRINTF("ERROR: foc_ramp_init failed %d\n", ret);
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index 795b5e82c..95026e9d7 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -307,8 +307,8 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
   ret = foc_ramp_init_f32(&motor->ramp,
                           motor->per,
                           RAMP_CFG_THR,
-                          (motor->envp->cfg->acc / 1000.0f),
-                          (motor->envp->cfg->dec / 1000.0f));
+                          (motor->envp->cfg->acc / 1.0f),
+                          (motor->envp->cfg->dec / 1.0f));
   if (ret < 0)
     {
       PRINTF("ERROR: foc_ramp_init failed %d\n", ret);