Merge pull request #368 from runger1101001/dev

expose result of PP check
simplefoc · Jan 20, 2024 · c0bb291 · c0bb291
2 parents 1bad770 + 3bcb9af
commit c0bb291
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Showing 3 changed files with 5 additions and 2 deletions.
diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
@@ -259,7 +259,8 @@ int BLDCMotor::alignSensor() {
       sensor_direction = Direction::CW;
     }
     // check pole pair number
-    if( fabs(moved*pole_pairs - _2PI) > 0.5f ) { // 0.5f is arbitrary number it can be lower or higher!
+    pp_check_result = !(fabs(moved*pole_pairs - _2PI) > 0.5f); // 0.5f is arbitrary number it can be lower or higher!
+    if( pp_check_result==false ) {
       SIMPLEFOC_DEBUG("MOT: PP check: fail - estimated pp: ", _2PI/moved);
     } else {
       SIMPLEFOC_DEBUG("MOT: PP check: OK!");

diff --git a/src/StepperMotor.cpp b/src/StepperMotor.cpp
@@ -175,7 +175,8 @@ int StepperMotor::alignSensor() {
     }
     // check pole pair number
     float moved =  fabs(mid_angle - end_angle);
-    if( fabs(moved*pole_pairs - _2PI) > 0.5f ) { // 0.5f is arbitrary number it can be lower or higher!
+    pp_check_result = !(fabs(moved*pole_pairs - _2PI) > 0.5f);  // 0.5f is arbitrary number it can be lower or higher!
+    if( pp_check_result==false ) {
       SIMPLEFOC_DEBUG("MOT: PP check: fail - estimated pp: ", _2PI/moved);
     } else {
       SIMPLEFOC_DEBUG("MOT: PP check: OK!");

diff --git a/src/common/base_classes/FOCMotor.h b/src/common/base_classes/FOCMotor.h
@@ -206,6 +206,7 @@ class FOCMotor
     float sensor_offset; //!< user defined sensor zero offset
     float zero_electric_angle = NOT_SET;//!< absolute zero electric angle - if available
     Direction sensor_direction = Direction::UNKNOWN; //!< default is CW. if sensor_direction == Direction::CCW then direction will be flipped compared to CW. Set to UNKNOWN to set by calibration
+    bool pp_check_result = false; //!< the result of the PP check, if run during loopFOC
 
     /**
      * Function providing BLDCMotor class with the