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change system time function to UNIX time

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This commit is contained in:
Edward Emelianov
2025-11-01 14:59:37 +03:00
parent a7fbae47f0
commit 683da9739d
15 changed files with 98 additions and 52 deletions
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17
LibSidServo/examples/scmd_traectory.c
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@@ -98,7 +98,7 @@ static void runtraectory(traectory_fn tfn){
coordval_pair_t target;
coordpair_t traectXY, endpoint;
endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
double t0 = Mount.currentT(), tlast = 0.;
double t0 = dumpt0(), tlast = 0., tstart = Mount.currentT();
double tlastX = 0., tlastY = 0.;
while(1){
if(!telpos(&telXY)){
@@ -109,7 +109,7 @@ static void runtraectory(traectory_fn tfn){
DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f) measured @ %.6f/%.6f", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val), telXY.X.t, telXY.Y.t);
tlastX = telXY.X.t; tlastY = telXY.Y.t;
double t = Mount.currentT();
if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - t0 > G.tmax) break;
if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
if(!traectory_point(&traectXY, t)) break;
target.X.val = traectXY.X; target.Y.val = traectXY.Y;
target.X.t = target.Y.t = t;
@@ -118,11 +118,14 @@ static void runtraectory(traectory_fn tfn){
else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
//DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
//DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
if(errlog)
fprintf(errlog, "%10.4g %10.4g %10.4g\n", t, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
if(t0 < 0.) t0 = dumpt0();
else{
//DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
//DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
if(errlog)
fprintf(errlog, "%10.4f %10.4f %10.4f\n", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
}
if(MCC_E_OK != Mount.correctTo(&target, &endpoint)) WARNX("Error of correction!");
while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
tlast = t;