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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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28
LibSidServo/ssii.c
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@@ -67,17 +67,17 @@ static void ChkStopped(const SSstat *s, mountdata_t *m){
* @param m (o) - output
* @param t - measurement time
*/
void SSconvstat(const SSstat *s, mountdata_t *m, double t){
if(!s || !m) return;
void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
if(!s || !m || !t) return;
m->motXposition.val = X_MOT2RAD(s->Xmot);
m->motYposition.val = Y_MOT2RAD(s->Ymot);
ChkStopped(s, m);
m->motXposition.t = m->motYposition.t = t;
m->motXposition.t = m->motYposition.t = *t;
// fill encoder data from here, as there's no separate enc thread
if(!Conf.SepEncoder){
m->encXposition.val = X_ENC2RAD(s->Xenc);
m->encYposition.val = Y_ENC2RAD(s->Yenc);
m->encXposition.t = m->encYposition.t = t;
m->encXposition.t = m->encYposition.t = *t;
getXspeed(); getYspeed();
}
m->keypad = s->keypad;
@@ -176,33 +176,37 @@ int SSstop(int emerg){
mcc_errcodes_t updateMotorPos(){
mountdata_t md = {0};
if(Conf.RunModel) return MCC_E_OK;
double t0 = nanotime(), t = 0.;
double t0 = timefromstart(), t = 0.;
struct timespec curt;
DBG("start @ %g", t0);
do{
t = nanotime();
t = timefromstart();
if(!curtime(&curt)){
usleep(10000);
continue;
}
if(MCC_E_OK == getMD(&md)){
if(md.encXposition.t == 0 || md.encYposition.t == 0){
if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
DBG("Just started, t-t0 = %g!", t - t0);
DBG("t-t0 = %g", nanotime() - t0);
//usleep(10000);
usleep(10000);
continue;
}
if(md.Xstate != AXIS_STOPPED || md.Ystate != AXIS_STOPPED) return MCC_E_OK;
DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
DBG("got; t pos x/y: %ld/%ld; tnow: %ld", md.encXposition.t.tv_sec, md.encYposition.t.tv_sec, curt.tv_sec);
mcc_errcodes_t OK = MCC_E_OK;
if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
DBG("Xpos sync failed!");
OK = MCC_E_FAILED;
}else DBG("Xpos sync OK, Dt=%g", nanotime() - t0);
}else DBG("Xpos sync OK, Dt=%g", t - t0);
}
if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
DBG("Ypos sync failed!");
OK = MCC_E_FAILED;
}else DBG("Ypos sync OK, Dt=%g", nanotime() - t0);
}else DBG("Ypos sync OK, Dt=%g", t - t0);
}
if(MCC_E_OK == OK){
DBG("Encoders synced");