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change time from double to struct timespec

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This commit is contained in:
Edward Emelianov
2025-12-08 13:31:23 +03:00
parent acd26edc9c
commit 196ed3be1b
15 changed files with 189 additions and 190 deletions
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25
LibSidServo/PID.c
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@@ -84,8 +84,9 @@ typedef struct{
* @return calculated new speed or -1 for max speed
*/
static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > Conf.PIDMaxDt){
DBG("target time: %g, axis time: %g - too big! (tag-ax=%g)", tagpos->t, axis->position.t, tagpos->t - axis->position.t);
double dt = timediff(&tagpos->t, &axis->position.t);
if(dt < 0 || dt > Conf.PIDMaxDt){
DBG("target time: %ld, axis time: %ld - too big! (tag-ax=%g)", tagpos->t.tv_sec, axis->position.t.tv_sec, dt);
return axis->speed.val; // data is too old or wrong
}
double error = tagpos->val - axis->position.val, fe = fabs(error);
@@ -125,9 +126,9 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
}else DBG("Current error: %g", fe);
break;
case AXIS_STOPPED: // start pointing to target; will change speed next time
DBG("AXIS STOPPED!!!!");
DBG("AXIS STOPPED!!!! --> Slewing");
axis->state = AXIS_SLEWING;
return NAN;
return getspeed(tagpos, pidpair, axis);
case AXIS_ERROR:
DBG("Can't move from erroneous state");
return 0.;
@@ -136,16 +137,16 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
DBG("WTF? Where is a PID?");
return axis->speed.val;
}
if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > Conf.PIDMaxDt){
double dtpid = timediff(&tagpos->t, &pid->prevT);
if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
DBG("time diff too big: clear PID");
pid_clear(pid);
}
double dt = tagpos->t - pid->prevT;
if(dt > Conf.PIDMaxDt) dt = Conf.PIDCycleDt;
if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
pid->prevT = tagpos->t;
DBG("CALC PID (er=%g, dt=%g), state=%d", error, dt, axis->state);
double tagspeed = pid_calculate(pid, error, dt);
if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dt; // velocity-based
DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
double tagspeed = pid_calculate(pid, error, dtpid);
if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
return tagspeed; // coordinate-based
}
@@ -214,7 +215,7 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
adder = dv/Ylimits.max.accel * (m.encYspeed.val + dv / 2.)
+ Conf.PIDMaxDt * tagspeed.Y
+ tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
endpoint.Y = m.encYposition.val + Ysign * tagspeed.Y / Ylimits.max.accel;
DBG("TAG speeds: %g/%g; TAG pos: %g/%g", tagspeed.X, tagspeed.Y, endpoint.X, endpoint.Y);
endpoint.Y = m.encYposition.val + Ysign * adder;
DBG("TAG speeds: %g/%g (deg/s); TAG pos: %g/%g (deg)", tagspeed.X/M_PI*180., tagspeed.Y/M_PI*180., endpoint.X/M_PI*180., endpoint.Y/M_PI*180.);
return Mount.moveWspeed(&endpoint, &tagspeed);
}