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some fixes

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This commit is contained in:
Edward Emelianov
2025-12-01 17:28:18 +03:00
parent 9066b3f091
commit 6dde28e8d9
16 changed files with 167 additions and 187 deletions
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11
LibSidServo/serial.c
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@@ -68,7 +68,7 @@ void getXspeed(){
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t - t0);
if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
if(fabs(speed) < 1.5 * Xlimits.max.speed){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
@@ -91,7 +91,7 @@ void getYspeed(){
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t - t0);
if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
if(fabs(speed) < 1.5 * Ylimits.max.speed){
mountdata.encYspeed.val = speed;
mountdata.encYspeed.t = mountdata.encYposition.t;
}
@@ -149,10 +149,10 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
mountdata.encXposition.t = t;
mountdata.encYposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
//if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
getXspeed(); getYspeed();
pthread_mutex_unlock(&datamutex);
//DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
}
@@ -790,13 +790,14 @@ int cmdC(SSconfig *conf, int rw){
d.len = 0; d.maxlen = sizeof(SSconfig);
ret = wr(rcmd, &d, 1);
DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
if(d.len != d.maxlen) return FALSE;
if(d.len != d.maxlen){ ret = FALSE; goto rtn; }
// simplest checksum
uint16_t sum = 0;
for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
if(sum != conf->checksum){
DBG("got sum: %u, need: %u", conf->checksum, sum);
return FALSE;
ret = FALSE;
goto rtn;
}
}
rtn: