examples/foc: terminate the control thread if no work to do

Author: raiden00pl

examples/foc/foc_fixed16_thr.c

@@ -352,6 +352,14 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
               PRINTF("ERROR: foc_dev_params_set failed %d!\n", ret);
               goto errout;
             }
+
+          /* Terminate control thread */
+
+          if (motor.ctrl_state == FOC_CTRL_STATE_TERMINATE)
+            {
+              PRINTF("TERMINATE CTRL THREAD\n");
+              goto errout;
+            }
         }
       else
         {

examples/foc/foc_float_thr.c

@@ -353,6 +353,14 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
               PRINTF("ERROR: foc_dev_prams_set failed %d!\n", ret);
               goto errout;
             }
+
+          /* Terminate control thread */
+
+          if (motor.ctrl_state == FOC_CTRL_STATE_TERMINATE)
+            {
+              PRINTF("TERMINATE CTRL THREAD\n");
+              goto errout;
+            }
         }
       else
         {

examples/foc/foc_motor_b16.c

@@ -1120,6 +1120,13 @@ int foc_motor_control(FAR struct foc_motor_b16_s *motor)
           break;
         }
 
+      case FOC_CTRL_STATE_TERMINATE:
+        {
+          /* Do nothing */
+
+          break;
+        }
+
       default:
         {
           PRINTF("ERROR: invalid ctrl_state=%d\n", motor->ctrl_state);

examples/foc/foc_motor_f32.c

@@ -1112,6 +1112,19 @@ int foc_motor_control(FAR struct foc_motor_f32_s *motor)
         {
           motor->foc_mode = FOC_HANDLER_MODE_IDLE;
 
+#ifndef CONFIG_EXAMPLES_FOC_HAVE_RUN
+          /* Terminate */
+
+          motor->ctrl_state += 1;
+#endif
+
+          break;
+        }
+
+      case FOC_CTRL_STATE_TERMINATE:
+        {
+          /* Do nothing */
+
           break;
         }
 

examples/foc/foc_thr.h

@@ -88,7 +88,8 @@ enum foc_controller_state_e
   FOC_CTRL_STATE_RUN_INIT,
   FOC_CTRL_STATE_RUN,
 #endif
-  FOC_CTRL_STATE_IDLE
+  FOC_CTRL_STATE_IDLE,
+  FOC_CTRL_STATE_TERMINATE
 };
 
 /* FOC thread data */