eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

change system time function to UNIX time

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

30
LibSidServo/serial.c
View File

@@ -59,13 +59,15 @@ typedef struct __attribute__((packed)){
// calculate current X/Y speeds
void getXspeed(){
static double t0 = -1.; // time of start - eliminate problem of very large times in squares
if(t0 < 0.) t0 = mountdata.encXposition.t;
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t - t0);
if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
@@ -80,13 +82,15 @@ void getXspeed(){
#endif
}
void getYspeed(){
static double t0 = -1.; // time of start - eliminate problem of very large times in squares
if(t0 < 0.) t0 = mountdata.encXposition.t;
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t - t0);
if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
mountdata.encYspeed.val = speed;
mountdata.encYspeed.t = mountdata.encYposition.t;
@@ -392,21 +396,31 @@ static void *mountthread(void _U_ *u){
uint8_t buf[2*sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
bzero(&mountdata, sizeof(mountdata));
double t0 = nanotime();
double t0 = nanotime(), tstart = t0;
static double oldmt = -100.; // old `millis measurement` time
static uint32_t oldmillis = 0;
if(Conf.RunModel) while(1){
coordval_pair_t c;
movestate_t xst, yst;
// now change data
getModData(&c);
getModData(&c, &xst, &yst);
pthread_mutex_lock(&datamutex);
double tnow = c.X.t;
mountdata.motXposition.t = mountdata.encXposition.t = mountdata.motYposition.t = mountdata.encYposition.t = tnow;
mountdata.motXposition.val = mountdata.encXposition.val = c.X.val;
mountdata.motYposition.val = mountdata.encYposition.val = c.Y.val;
mountdata.encXposition.t = mountdata.encYposition.t = tnow;
mountdata.encXposition.val = c.X.val;
mountdata.encYposition.val = c.Y.val;
//DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
if(tnow - oldmt > Conf.MountReqInterval){
oldmillis = mountdata.millis = (uint32_t)(tnow * 1e3);
oldmillis = mountdata.millis = (uint32_t)((tnow - tstart) * 1e3);
mountdata.motYposition.t = mountdata.motXposition.t = tnow;
if(xst == ST_MOVE)
mountdata.motXposition.val = c.X.val + (c.X.val - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motXposition.val = c.X.val;
if(yst == ST_MOVE)
mountdata.motYposition.val = c.Y.val + (c.Y.val - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motYposition.val = c.Y.val;
oldmt = tnow;
}else mountdata.millis = oldmillis;
pthread_mutex_unlock(&datamutex);