initfoc fails if current sense is not well initialised

Author: askuric

README.md

@@ -20,47 +20,15 @@ Therefore this is an attempt to:
 
 
 
-<blockquote class="info">
-   <p class="heading">NEW RELEASE 📢: <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2.2 <a href="https://github.com/simplefoc/Arduino-FOC/releases/tag/v2.2.2">see release</a></p>
-   <ul>
-      <li>GenericCurrentSense bugfix and testing</li>
-      <li>bugfix leonardo #170</li>
-      <li>bugfix - no index search after specifying natural direction</li>
-      <li>Low level API restructuring
-         <ul dir="auto">
-            <li>Driver API</li>
-            <li>Current sense API</li>
-         </ul>
-      </li>
-      <li>New debugging interface - <a href="https://docs.simplefoc.com/debugging">see in docs</a>
-         <ul dir="auto">
-            <li>Static class SimpleFOCDebug</li>
-         </ul>
-      </li>
-      <li>CurrentSense API change - added method <code class="highlighter-rouge">linkDriver()</code> - <a href="https://docs.simplefoc.com/current_sense">see in docs</a></li>
-      <li>Low-side current sensing - <a href="https://docs.simplefoc.com/low_side_current_sense">see in docs</a>
-         <ul dir="auto">
-            <li>ESP32 generic support for multiple motors</li>
-            <li>Added low-side current sensing support for stm32 - only one motor
-            <ul dir="auto">
-               <li>f1 family</li>
-               <li>f4 family</li>
-               <li>g4 family</li>
-            </ul>
-            </li>
-         </ul>
-      </li>
-      <li>New appraoch for current estimation for torque control using voltage - <a href="https://docs.simplefoc.com/voltage_torque_mode">see in docs </a>
-         <ul dir="auto">
-            <li>Support for motor KV rating - back emf estimation</li>
-            <li>Using motor phase resistance</li>
-         </ul>
-      </li>
-      <li>KV rating and phase resistance used for open-loop current limiting as well - <a href="https://docs.simplefoc.com/open_loop_motion_control">see in docs </a> </li>
-   </ul>
-</blockquote>
-
-## Arduino *SimpleFOClibrary* v2.2
+> FUTURE RELEASE : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2.3
+> - stm32 low-side current sensing 
+>    - g4 supported
+>    - thoroughly tested f1/f4/g4
+> - bugfixing
+>    - leonardo
+>    - mega2560
+
+## Arduino *SimpleFOClibrary* v2.2.2
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">

src/BLDCMotor.cpp

@@ -121,7 +121,15 @@ int  BLDCMotor::initFOC( float zero_electric_offset, Direction _sensor_direction
   // and checks the direction of measuremnt.
   _delay(500);
   if(exit_flag){
-    if(current_sense) exit_flag *= alignCurrentSense();
+    if(current_sense){ 
+      if (!current_sense->initialized) {
+        motor_status = FOCMotorStatus::motor_calib_failed;
+        SIMPLEFOC_DEBUG("MOT: Init FOC error, current sense not initialized");
+        exit_flag = 0;
+      }else{
+        exit_flag *= alignCurrentSense();
+      }
+    }
     else SIMPLEFOC_DEBUG("MOT: No current sense.");
   }
 

src/common/base_classes/CurrentSense.h

@@ -29,6 +29,7 @@ class CurrentSense{
     bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
 
     BLDCDriver* driver; //!< driver link
+    bool initialized = false; // true if current sense was successfully initialized   
     void* params = 0; //!< pointer to hardware specific parameters of current sensing
 
     /**

src/current_sense/GenericCurrentSense.cpp

@@ -13,6 +13,8 @@ int GenericCurrentSense::init(){
     if(initCallback != nullptr) initCallback();
     // calibrate zero offsets
     calibrateOffsets();
+    // set the initialized flag
+    initialized = (params!=SIMPLEFOC_CURRENT_SENSE_INIT_FAILED);
     // return success
     return 1;
 }

src/current_sense/InlineCurrentSense.cpp

@@ -27,6 +27,8 @@ int InlineCurrentSense::init(){
     if (params == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; 
     // calibrate zero offsets
     calibrateOffsets();
+    // set the initialized flag
+    initialized = (params!=SIMPLEFOC_CURRENT_SENSE_INIT_FAILED);
     // return success
     return 1;
 }

src/current_sense/LowsideCurrentSense.cpp

@@ -29,6 +29,8 @@ int LowsideCurrentSense::init(){
     _driverSyncLowSide(driver->params, params);
     // calibrate zero offsets
     calibrateOffsets();
+    // set the initialized flag
+    initialized = (params!=SIMPLEFOC_CURRENT_SENSE_INIT_FAILED);
     // return success
     return 1;
 }