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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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27
LibSidServo/ssii.c
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@@ -37,11 +37,12 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
/**
* @brief SSconvstat - convert stat from SSII format to human
* @param status (i) - just read data
* @param mountdata (o) - output
* @param s (i) - just read data
* @param m (o) - output
* @param t - measurement time
*/
void SSconvstat(const SSstat *s, mountdata_t *m, struct timeval *tdat){
if(!s || !m || !tdat) return;
void SSconvstat(const SSstat *s, mountdata_t *m, double t){
if(!s || !m) return;
/*
#ifdef EBUG
static double t0 = -1.;
@@ -49,18 +50,18 @@ void SSconvstat(const SSstat *s, mountdata_t *m, struct timeval *tdat){
#endif
DBG("Convert, t=%g", dtime()-t0);
*/
m->motposition.X = X_MOT2RAD(s->Xmot);
m->motposition.Y = Y_MOT2RAD(s->Ymot);
m->motposition.msrtime = *tdat;
m->motXposition.val = X_MOT2RAD(s->Xmot);
m->motYposition.val = Y_MOT2RAD(s->Ymot);
m->motXposition.t = m->motYposition.t = t;
// fill encoder data from here, as there's no separate enc thread
if(!Conf.SepEncoder){
m->encposition.X = X_ENC2RAD(s->Xenc);
m->encposition.Y = Y_ENC2RAD(s->Yenc);
m->encposition.msrtime = *tdat;
m->encXposition.val = X_ENC2RAD(s->Xenc);
m->encYposition.val = Y_ENC2RAD(s->Yenc);
m->encXposition.t = m->encYposition.t = t;
}
m->lastmotposition.X = X_MOT2RAD(s->XLast);
m->lastmotposition.Y = Y_MOT2RAD(s->YLast);
m->lastmotposition.msrtime = *tdat;
//m->lastmotposition.X = X_MOT2RAD(s->XLast);
//m->lastmotposition.Y = Y_MOT2RAD(s->YLast);
//m->lastmotposition.msrtime = *tdat;
m->keypad = s->keypad;
m->extradata.ExtraBits = s->ExtraBits;
m->extradata.ain0 = s->ain0;