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fixed stupid bug

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This commit is contained in:
Edward V. Emelianov
2026-03-11 12:36:45 +03:00
parent 2eb7b214b2
commit e61146db69
6 changed files with 43 additions and 33 deletions
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18
LibSidServo/serial.c
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@@ -71,7 +71,6 @@ void getXspeed(){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
//DBG("Xspeed=%g", mountdata.encXspeed.val);
}
void getYspeed(){
static less_square_t *ls = NULL;
@@ -328,9 +327,12 @@ typedef struct{
// write to buffer next data portion; return FALSE in case of error
static int readstrings(buf_t *buf, int fd){
FNAME();
if(!buf){DBG("Empty buffer"); return FALSE;}
int L = XYBUFSZ - buf->len;
if(L < 0){
DBG("buf not initialized!");
buf->len = 0;
}
if(L == 0){
DBG("buffer overfull: %d!", buf->len);
char *lastn = strrchr(buf->buf, '\n');
@@ -344,6 +346,7 @@ static int readstrings(buf_t *buf, int fd){
}else buf->len = 0;
L = XYBUFSZ - buf->len;
}
//DBG("read %d bytes from %d", L, fd);
int got = read(fd, &buf->buf[buf->len], L);
if(got < 0){
DBG("read()");
@@ -351,13 +354,13 @@ static int readstrings(buf_t *buf, int fd){
}else if(got == 0){ DBG("NO data"); return TRUE; }
buf->len += got;
buf->buf[buf->len] = 0;
DBG("buf[%d]: %s", buf->len, buf->buf);
//DBG("buf[%d]: %s", buf->len, buf->buf);
return TRUE;
}
// return TRUE if got, FALSE if no data found
static int getdata(buf_t *buf, long *out){
if(!buf || buf->len < 1) return FALSE;
if(!buf || buf->len < 1 || buf->len > (XYBUFSZ+1)) return FALSE;
// read record between last '\n' and previous (or start of string)
char *last = &buf->buf[buf->len - 1];
//DBG("buf: _%s_", buf->buf);
@@ -378,7 +381,7 @@ static int getdata(buf_t *buf, long *out){
// try to write '\n' asking new data portion; return FALSE if failed
static int asknext(int fd){
FNAME();
//FNAME();
if(fd < 0) return FALSE;
int i = 0;
for(; i < 5; ++i){
@@ -399,7 +402,7 @@ static void *encoderthread2(void _U_ *u){
pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
double t0[2], tstart;
buf_t strbuf[2];
buf_t strbuf[2] = {0};
long msrlast[2]; // last encoder data
double mtlast[2]; // last measurement time
asknext(encfd[0]); asknext(encfd[1]);
@@ -426,6 +429,9 @@ static void *encoderthread2(void _U_ *u){
if(i == 0){
mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
curtime(&mountdata.encXposition.t);
/*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
X_ENC_ZERO, X_ENC_STEPSPERREV);*/
getXspeed();
}else{
mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);