.

Author: sylque

README.md

@@ -1,3 +1,8 @@
+*This fork adds the following features:*
+- *FOCMotor: thread-safe 'target' and 'controller' fields*
+- *BLDCMotor: make 'alignSensor()' virtual*
+- *Commander: allow contexts on onCommand callbacks*
+
 # SimpleFOClibrary - **Simple** Field Oriented Control (FOC) **library** <br> 
 ### A Cross-Platform FOC implementation for BLDC and Stepper motors<br> based on the Arduino IDE and PlatformIO 
 

src/BLDCMotor.h

@@ -81,11 +81,11 @@ class BLDCMotor: public FOCMotor
     */
     void setPhaseVoltage(float Uq, float Ud, float angle_el) override;
 
-  private:
+  protected:
     // FOC methods 
 
     /** Sensor alignment to electrical 0 angle of the motor */
-    int alignSensor();
+    virtual int alignSensor();
     /** Current sense and motor phase alignment */
     int alignCurrentSense();
     /** Motor and sensor alignment to the sensors absolute 0 angle  */

src/common/base_classes/FOCMotor.h

@@ -1,6 +1,8 @@
 #ifndef FOCMOTOR_H
 #define FOCMOTOR_H
 
+#include <atomic>
+
 #include "Arduino.h"
 #include "Sensor.h"
 #include "CurrentSense.h"
@@ -150,7 +152,7 @@ class FOCMotor
     float electricalAngle();
 
     // state variables
-    float target; //!< current target value - depends of the controller
+    std::atomic<float> target; //!< current target value - depends of the controller
     float feed_forward_velocity = 0.0f; //!< current feed forward velocity
   	float shaft_angle;//!< current motor angle
   	float electrical_angle;//!< current electrical angle
@@ -190,7 +192,7 @@ class FOCMotor
 
     // configuration structures
     TorqueControlType torque_controller; //!< parameter determining the torque control type
-    MotionControlType controller; //!< parameter determining the control loop to be used
+    std::atomic<MotionControlType> controller; //!< parameter determining the control loop to be used
 
     // controllers and low pass filters
     PIDController PID_current_q{DEF_PID_CURR_P,DEF_PID_CURR_I,DEF_PID_CURR_D,DEF_PID_CURR_RAMP, DEF_POWER_SUPPLY};//!< parameter determining the q current PID config

src/communication/Commander.cpp

@@ -11,7 +11,7 @@ Commander::Commander(char eol, bool echo){
 }
 
 
-void Commander::add(char id, CommandCallback onCommand, const char* label ){
+void Commander::add(char id, std::function<void(char*)> onCommand, const char* label ){
   call_list[call_count] = onCommand;
   call_ids[call_count] = id;
   call_label[call_count] = (char*)label;

src/communication/Commander.h

@@ -91,7 +91,7 @@ class Commander
      * @param onCommand  - function pointer void function(char*)
      * @param label      - string label to be displayed when scan command sent
      */
-    void add(char id , CommandCallback onCommand, const char* label = nullptr);
+    void add(char id , std::function<void(char*)> onCommand, const char* label = nullptr);
 
     // printing variables
     VerboseMode verbose = VerboseMode::user_friendly; //!< flag signaling that the commands should output user understanable text
@@ -243,7 +243,7 @@ class Commander
     bool isSentinel(char ch);
   private:
     // Subscribed command callback variables
-    CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
+    std::function<void(char*)> call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
     char call_ids[20]; //!< added callback commands
     char* call_label[20]; //!< added callback labels
     int call_count = 0;//!< number callbacks that are subscribed