From caba5a0a6fe293c3391067518324c0e1fc8d54d9 Mon Sep 17 00:00:00 2001
From: raiden00pl <raiden00@railab.me>
Date: Fri, 4 Nov 2022 19:01:44 +0100
Subject: [PATCH] examples/foc: add missing deinit calls

---
 examples/foc/foc_motor_b16.c | 35 ++++++++++++++++++++++++++++++++++-
 examples/foc/foc_motor_f32.c | 35 ++++++++++++++++++++++++++++++++++-
 2 files changed, 68 insertions(+), 2 deletions(-)

diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index 6b3112a07..2fe9dfd2c 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -1046,6 +1046,39 @@ int foc_motor_deinit(FAR struct foc_motor_b16_s *motor)
 
   DEBUGASSERT(motor);
 
+  #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
+  /* Deinitialzie open-loop handler */
+
+  ret = foc_angle_deinit_b16(&motor->openloop);
+  if (ret < 0)
+    {
+      PRINTFV("ERROR: foc_angle_deinit_b16 failed %d!\n", ret);
+      goto errout;
+    }
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
+  /* Deinitialzie qenco handler */
+
+  ret = foc_angle_deinit_b16(&motor->qenco);
+  if (ret < 0)
+    {
+      PRINTFV("ERROR: foc_angle_deinit_b16 failed %d!\n", ret);
+      goto errout;
+    }
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
+  /* Deinitialzie hall handler */
+
+  ret = foc_angle_deinit_b16(&motor->hall);
+  if (ret < 0)
+    {
+      PRINTFV("ERROR: foc_angle_deinit_b16 failed %d!\n", ret);
+      goto errout;
+    }
+#endif
+
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
   /* Deinitialize motor alignment routine */
 
@@ -1058,7 +1091,7 @@ int foc_motor_deinit(FAR struct foc_motor_b16_s *motor)
 #endif
 
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
-  /* Deinitialize motor identment routine */
+  /* Deinitialize motor identification routine */
 
   ret = foc_routine_deinit_b16(&motor->ident);
   if (ret < 0)
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index 733a2a001..ead7e56b3 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -1033,6 +1033,39 @@ int foc_motor_deinit(FAR struct foc_motor_f32_s *motor)
 
   DEBUGASSERT(motor);
 
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
+  /* Deinitialzie open-loop handler */
+
+  ret = foc_angle_deinit_f32(&motor->openloop);
+  if (ret < 0)
+    {
+      PRINTFV("ERROR: foc_angle_deinit_f32 failed %d!\n", ret);
+      goto errout;
+    }
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
+  /* Deinitialzie qenco handler */
+
+  ret = foc_angle_deinit_f32(&motor->qenco);
+  if (ret < 0)
+    {
+      PRINTFV("ERROR: foc_angle_deinit_f32 failed %d!\n", ret);
+      goto errout;
+    }
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
+  /* Deinitialzie hall handler */
+
+  ret = foc_angle_deinit_f32(&motor->hall);
+  if (ret < 0)
+    {
+      PRINTFV("ERROR: foc_angle_deinit_f32 failed %d!\n", ret);
+      goto errout;
+    }
+#endif
+
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
   /* Deinitialize motor alignment routine */
 
@@ -1045,7 +1078,7 @@ int foc_motor_deinit(FAR struct foc_motor_f32_s *motor)
 #endif
 
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
-  /* Deinitialize motor identment routine */
+  /* Deinitialize motor identification routine */
 
   ret = foc_routine_deinit_f32(&motor->ident);
   if (ret < 0)