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fixed race bug

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This commit is contained in:
Edward V. Emelianov
2026-01-21 23:20:58 +03:00
parent f7cb279841
commit 873f292a11
7 changed files with 115 additions and 52 deletions
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12
LibSidServo/main.c
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@@ -25,6 +25,7 @@
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include "main.h"
#include "movingmodel.h"
@@ -225,6 +226,9 @@ static mcc_errcodes_t init(conf_t *c){
// read HW config to update constants
hardware_configuration_t HW;
if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
// make a pause for actual encoder's values
double t0 = timefromstart();
while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
return updateMotorPos();
}
@@ -489,15 +493,19 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
Yticks = ((double) i64) / 4.;
X_ENC_ZERO = Conf.XEncZero;
Y_ENC_ZERO = Conf.YEncZero;
X_MOT_STEPSPERREV = hwConfig->Xconf.motor_stepsperrev = (config.xbits.motrev) ? -Xticks : Xticks;
Y_MOT_STEPSPERREV = hwConfig->Yconf.motor_stepsperrev = (config.ybits.motrev) ? -Yticks : Yticks;
DBG("xyrev: %d/%d", config.xbits.motrev, config.ybits.motrev);
X_MOT_STEPSPERREV = hwConfig->Xconf.motor_stepsperrev = Xticks; // (config.xbits.motrev) ? -Xticks : Xticks;
Y_MOT_STEPSPERREV = hwConfig->Yconf.motor_stepsperrev = Yticks; //(config.ybits.motrev) ? -Yticks : Yticks;
DBG("zero: %d/%d; motsteps: %.10g/%.10g", X_ENC_ZERO, Y_ENC_ZERO, X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV);
// axis encoder ticks per rev
if(!SSgetint(CMD_AEPRX, &i64)) return MCC_E_FAILED;
Xticks = (double) i64;
if(!SSgetint(CMD_AEPRY, &i64)) return MCC_E_FAILED;
Yticks = (double) i64;
DBG("xyencrev: %d/%d", config.xbits.encrev, config.ybits.encrev);
X_ENC_STEPSPERREV = hwConfig->Xconf.axis_stepsperrev = (config.xbits.encrev) ? -Xticks : Xticks;
Y_ENC_STEPSPERREV = hwConfig->Yconf.axis_stepsperrev = (config.ybits.encrev) ? -Yticks : Yticks;
DBG("encsteps: %.10g/%.10g", X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV);
return MCC_E_OK;
}