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examples/foc: terminate main loop if FOC control loop terminated

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raiden00pl 2021-11-06 17:46:03 +01:00 • committed by Xiang Xiao
parent 19b9c2371c
commit f38d7d2ed3
1 changed files with 34 additions and 0 deletions
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34
examples/foc/foc_main.c
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@ -458,6 +458,33 @@ errout:
return NULL;
}
/****************************************************************************
* Name: foc_threads_terminated
****************************************************************************/
static bool foc_threads_terminated(void)
{
bool ret = false;
pthread_mutex_unlock(&g_cntr_lock);
if (1
#ifdef CONFIG_INDUSTRY_FOC_FLOAT
&& g_float_thr_cntr <= 0
#endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16
&& g_fixed16_thr_cntr <= 0
#endif
)
{
ret = true;
}
pthread_mutex_lock(&g_cntr_lock);
return ret;
}
/****************************************************************************
* Name: foc_threads_init
****************************************************************************/
@ -931,6 +958,13 @@ int main(int argc, char *argv[])
}
}
/* Terminate main loop if threads terminated */
if (foc_threads_terminated() == true)
{
terminate = true;
}
usleep(MAIN_LOOP_USLEEP);
}