From 8aa48c4fb6a691a321bd167892c79a844ec52cf1 Mon Sep 17 00:00:00 2001
From: hujun5 <hujun5@xiaomi.com>
Date: Tue, 27 Jan 2026 14:14:26 +0800
Subject: [PATCH] examples: foc: Add critical section protection to FOC control
 loop

Introduce CONFIG_EXAMPLES_FOC_CONTROL_CRITSEC configuration option to enable
critical section protection in the FOC (Field-Oriented Control) motor control
examples. This adds irq-safe critical sections around the main control loop
processing to prevent race conditions and ensure atomic updates of motor
control state and parameters during interrupt handling.

Signed-off-by: hujun5 <hujun5@xiaomi.com>
---
 examples/foc/foc_fixed16_thr.c | 2 ++
 examples/foc/foc_float_thr.c   | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/examples/foc/foc_fixed16_thr.c b/examples/foc/foc_fixed16_thr.c
index 2ba2998e6..3c9a8c77b 100644
--- a/examples/foc/foc_fixed16_thr.c
+++ b/examples/foc/foc_fixed16_thr.c
@@ -26,6 +26,8 @@
 
 #include <nuttx/config.h>
 
+#include <nuttx/spinlock.h>
+
 #include <assert.h>
 #include <dspb16.h>
 #include <fcntl.h>
diff --git a/examples/foc/foc_float_thr.c b/examples/foc/foc_float_thr.c
index af967f255..4c52b86bf 100644
--- a/examples/foc/foc_float_thr.c
+++ b/examples/foc/foc_float_thr.c
@@ -26,6 +26,8 @@
 
 #include <nuttx/config.h>
 
+#include <nuttx/spinlock.h>
+
 #include <assert.h>
 #include <dsp.h>
 #include <fcntl.h>