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add speed + a lot of refactoring

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This commit is contained in:
Edward V. Emelianov
2025-07-22 23:52:08 +03:00
parent fc943abe03
commit b0421972d1
22 changed files with 513 additions and 161 deletions
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19
LibSidServo/examples/scmd_traectory.c
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@@ -89,20 +89,21 @@ static void *dumping(void _U_ *u){
// calculate
static void runtraectory(traectory_fn tfn){
if(!tfn) return;
coords_t telXY, traectXY;
double t0 = sl_dtime();
uint32_t susec_last = 0;
coordval_pair_t telXY;
coordpair_t traectXY;
double t0 = Mount.currentT();
double tlast = 0.;
while(1){
if(!telpos(&telXY)){
WARNX("No next telescope position");
return;
}
if(telXY.msrtime.tv_usec == susec_last) continue; // last measure - don't mind
susec_last = telXY.msrtime.tv_usec;
double t = sl_dtime();
if(telXY.X > G.Xmax || telXY.Y > G.Ymax || t - t0 > G.tmax) break;
if(telXY.X.t == tlast && telXY.Y.t == tlast) continue; // last measure - don't mind
tlast = (telXY.X.t + telXY.Y.t) / 2.;
double t = Mount.currentT();
if(telXY.X.val > G.Xmax || telXY.Y.val > G.Ymax || t - t0 > G.tmax) break;
if(!traectory_point(&traectXY, t)) break;
DBG("%g: dX=%.1f'', dY=%.1f''", t-t0, RAD2ASEC(traectXY.X-telXY.X), RAD2ASEC(traectXY.Y-telXY.Y));
DBG("%g: dX=%.1f'', dY=%.1f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
}
WARNX("No next traectory point");
}
@@ -133,7 +134,7 @@ int main(int argc, char **argv){
print_tr_names();
return 1;
}
coords_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
coordpair_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
if(!init_traectory(tfn, &c)){
ERRX("Can't init traectory");
return 1;