eddy/small_tel
1
0
Fork 0
mirror of https://github.com/eddyem/small_tel.git synced 2026-05-01 18:37:07 +03:00
Code Issues Packages Projects Releases Wiki Activity

fixed deadlock

Browse Source
This commit is contained in:
Edward Emelianov
2026-04-03 10:39:14 +03:00
parent 9d58bf1694
commit cc870491f5
5 changed files with 45 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
Auxiliary_utils/LibSidServo/ssii.c
View File

@@ -44,39 +44,6 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
return checksum;
}
// Next three functions runs under locked mountdata_t mutex and shouldn't call locked it again!!
static axis_status_t chkstopstat(int32_t *prev, int32_t cur, int32_t tag, int *nstopped, axis_status_t stat){
if(*prev == INT32_MAX){
stat = AXIS_STOPPED;
DBG("START");
}else if(stat == AXIS_GONNASTOP || (stat != AXIS_STOPPED && cur == tag)){ // got command "stop" or motor is on target
if(*prev == cur){
DBG("Test for stop, nstopped=%d", *nstopped);
if(++(*nstopped) > MOTOR_STOPPED_CNT){
stat = AXIS_STOPPED;
DBG("AXIS stopped");
}
}else *nstopped = 0;
}else if(*prev != cur){
DBG("AXIS moving");
*nstopped = 0;
}
*prev = cur;
return stat;
}
// check for stopped/pointing states
static void ChkStopped(const SSstat *s, mountdata_t *m){
static int32_t Xmot_prev = INT32_MAX, Ymot_prev = INT32_MAX; // previous coordinates
static int Xnstopped = 0, Ynstopped = 0; // counters to get STOPPED state
axis_status_t Xstat, Ystat;
Xstat = chkstopstat(&Xmot_prev, s->Xmot, m->Xtarget, &Xnstopped, m->Xstate);
Ystat = chkstopstat(&Ymot_prev, s->Ymot, m->Ytarget, &Ynstopped, m->Ystate);
if(Xstat != m->Xstate || Ystat != m->Ystate){
DBG("Status changed");
setStat(Xstat, Ystat);
}
}
/**
* @brief SSconvstat - convert stat from SSII format to human
* @param s (i) - just read data
@@ -87,7 +54,6 @@ void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
if(!s || !m || !t) return;
m->motXposition.val = X_MOT2RAD(s->Xmot);
m->motYposition.val = Y_MOT2RAD(s->Ymot);
ChkStopped(s, m);
m->motXposition.t = m->motYposition.t = *t;
// fill encoder data from here, as there's no separate enc thread
if(!Conf.SepEncoder){