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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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9
LibSidServo/ssii.c
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@@ -79,6 +79,7 @@ void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
// fill encoder data from here, as there's no separate enc thread
if(!Conf.SepEncoder){
m->encXposition.val = Xenc2rad(s->Xenc);
DBG("encx: %g", m->encXposition.val);
m->encYposition.val = Yenc2rad(s->Yenc);
m->encXposition.t = m->encYposition.t = *t;
getXspeed(); getYspeed();
@@ -188,9 +189,10 @@ mcc_errcodes_t updateMotorPos(){
usleep(10000);
continue;
}
//DBG("XENC2RAD: %g (xez=%d, xesr=%.10g)", Xenc2rad(32424842), X_ENC_ZERO, X_ENC_STEPSPERREV);
if(MCC_E_OK == getMD(&md)){
if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
DBG("Just started, t-t0 = %g!", t - t0);
DBG("Just started? t-t0 = %g!", t - t0);
usleep(10000);
continue;
}
@@ -198,14 +200,15 @@ mcc_errcodes_t updateMotorPos(){
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);
DBG("NEED to sync X: motors=%g, axis=%g", md.motXposition.val, md.encXposition.val);
DBG("new motsteps: %d", X_RAD2MOT(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", 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);
DBG("NEED to sync Y: motors=%g, axis=%g", md.motYposition.val, md.encYposition.val);
if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
DBG("Ypos sync failed!");
OK = MCC_E_FAILED;