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libs/libdsp/lib_motor.c: refactor

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raiden00pl 2021-02-28 22:15:08 +01:00 committed by Xiang Xiao
parent c43ec4283f
commit 15b0ae716c
1 changed files with 10 additions and 6 deletions
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16
libs/libdsp/lib_motor.c
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@ -210,20 +210,24 @@ void motor_angle_e_update(FAR struct motor_angle_f32_s *angle,
/* Check if we crossed electrical angle boundaries */
if (dir == DIR_CW &&
angle_new - angle->angle_el.angle < -POLE_CNTR_THR)
if (dir == DIR_CW)
{
/* For CW direction - previous angle is greater than current angle */
angle->i += 1;
if (angle_new - angle->angle_el.angle < -POLE_CNTR_THR)
{
angle->i += 1;
}
}
else if (dir == DIR_CCW &&
angle_new - angle->angle_el.angle > POLE_CNTR_THR)
else if (dir == DIR_CCW)
{
/* For CCW direction - previous angle is lower than current angle */
angle->i -= 1;
if (angle_new - angle->angle_el.angle > POLE_CNTR_THR)
{
angle->i -= 1;
}
}
/* Reset pole counter if needed */