FOC, Position Control used but MCM_POSITION_CONTROL of MC_ControLMode_t never used

[Zeno]

Hi, 

[PN]: Nucleo-H755ZI-Q; IHM08M1
[VERSION]: MCSDK 6.3.2
[TOOL]: Firmware programming - Position Control mode
[DETAILS]: MC_ControlMode_t never set to MCM_POSITION_MODE. When a position command is executed the LastModalitySetByUser is set to MCM_TORQUE_MODE. The MCM_POSITION_MODE is never used, nowhere in the code is there any trace of that state.
[EXPECTED BEHAVIOR]: When executing MC_ProgramPositionCommandMotor1() I expected the LastModalitySetByUser to be set to MCM_POSITION_MODE.

[HOW TO REPRODUCE]:configure MC Workbench project with 1 motor and enable position control, check the code generated in mc_interface.c following the function api function MC_ProgramPositionCommandMotor1():

/**
  * @brief  Programs a motor position ramp
  *
  * @PAram  pHandle Pointer on the component instance to work on.
  * @PAram  FinalPosition The desired rotor position in radians.
  * @PAram  Duration The duration of the movement to reach the final position, in seconds.
  *
  *  This command is executed immediately if the target motor's state machine is in
  * the #RUN state. Otherwise, it is buffered and its execution is delayed until This
  * state is reached.
  *
  * Users can check the status of the command by calling the MCI_IsCommandAcknowledged()
  * function.
  */
__weak void MCI_ExecPositionCommand(MCI_Handle_t *pHandle, float_t FinalPosition, float_t Duration)
{
#ifdef NULL_PTR_CHECK_MC_INT
  if (MC_NULL == pHandle)
  {
    /* Nothing to do */
  }
  else
  {
#endif
    pHandle->pFOCVars->bDriveInput = INTERNAL;
    float_t currentPositionRad = (float_t)(SPD_GetMecAngle(STC_GetSpeedSensor(pHandle->pSTC))) / RADTOS16;
    if (Duration > 0)
    {
      TC_MoveCommand(pHandle->pPosCtrl, currentPositionRad, FinalPosition - currentPositionRad, Duration);
    }
    else
    {
      TC_FollowCommand(pHandle->pPosCtrl, FinalPosition);
    }

    pHandle->LastModalitySetByUser = MCM_TORQUE_MODE;
#ifdef NULL_PTR_CHECK_MC_INT
  }
#endif
}

pHandle->LastModalitySetByUser = MCM_TORQUE_MODE;

I assume that this is bug and that this needs to be MCM_POSITION_MODE. I've checked the .ftl files as well and the origin of the bug is in the mc_interface.c.ftl file: 

<#if MC.M1_POSITION_CTRL_ENABLING == true || MC.M2_POSITION_CTRL_ENABLING == true>
/**
  * @brief  Programs a motor position ramp 
  *
  * @PAram  pHandle Pointer on the component instance to work on.
  * @PAram  FinalPosition The desired rotor position in radians.
  * @PAram  Duration The duration of the movement to reach the final position, in seconds.
  *
  *  This command is executed immediately if the target motor's state machine is in 
  * the #RUN state. Otherwise, it is buffered and its execution is delayed until This
  * state is reached.
  *
  * Users can check the status of the command by calling the MCI_IsCommandAcknowledged() 
  * function.
  */
__weak void MCI_ExecPositionCommand(MCI_Handle_t *pHandle, float_t FinalPosition, float_t Duration)
{
#ifdef NULL_PTR_CHECK_MC_INT
  if (MC_NULL == pHandle)
  {
    /* Nothing to do */
  }
  else
  {
#endif
    pHandle->pFOCVars->bDriveInput = INTERNAL;
    float_t currentPositionRad = (float_t)(SPD_GetMecAngle(STC_GetSpeedSensor(pHandle->pSTC))) / RADTOS16;
    if (Duration > 0)
    {
      TC_MoveCommand(pHandle->pPosCtrl, currentPositionRad, FinalPosition - currentPositionRad, Duration);
    }
    else
    {
      TC_FollowCommand(pHandle->pPosCtrl, FinalPosition);
    }
  
    pHandle->LastModalitySetByUser = MCM_TORQUE_MODE;
#ifdef NULL_PTR_CHECK_MC_INT
  }
#endif
}
</#if><#-- MC.M1_POSITION_CTRL_ENABLING == true || MC.M2_POSITION_CTRL_ENABLING == true -->
</#if><#-- FOC -->

[GMA]

Hello @Zeno,

You are right, MCM_POSITION_MODE is defined but not used.
On the other hand, as mentioned on AN5464 Position Control application note: "Current control for field orientation (FOC)".
It means that TORQUE mode is used for position control feature (refer to "2. Algorithm description").

[Zeno]

Hi @GMA , 

Thank you for the quick response. 

Yea I figured that Postion Control mode is basically constantly adjusting "jerk", i.e. Torque.

But still the overlying control modality needs to be position control since it's description says:

MCM_POSITION_MODE, /**< @brief Closed loop, sensored position control mode. */

If it comes to swapping between control modes this state should be correctly reflected if a Position Control command was/is executed no?