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fixed time

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This commit is contained in:
Edward Emelianov
2025-11-01 15:02:11 +03:00
parent 27a7388164
commit f6edc12b01
18 changed files with 139 additions and 76 deletions
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30
Auxiliary_utils/LibSidServo/main.c
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@@ -51,17 +51,18 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd);
* @return time in seconds
*/
double nanotime(){
static struct timespec *start = NULL;
//static struct timespec *start = NULL;
struct timespec now;
if(!start){
/*if(!start){
start = malloc(sizeof(struct timespec));
if(!start) return -1.;
if(clock_gettime(CLOCK_MONOTONIC, start)) return -1.;
}
}*/
if(clock_gettime(CLOCK_MONOTONIC, &now)) return -1.;
double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
/*double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
double sd = (double)now.tv_sec - (double)start->tv_sec;
return sd + nd;
return sd + nd;*/
return (double)now.tv_sec + (double)now.tv_nsec * 1e-9;
}
/**
@@ -75,10 +76,8 @@ static void quit(){
DBG("Exit");
}
void getModData(mountdata_t *mountdata){
if(!mountdata || !Xmodel || !Ymodel) return;
static double oldmt = -100.; // old `millis measurement` time
static uint32_t oldmillis = 0;
void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst){
if(!c || !Xmodel || !Ymodel) return;
double tnow = nanotime();
moveparam_t Xp, Yp;
movestate_t Xst = Xmodel->get_state(Xmodel, &Xp);
@@ -86,14 +85,11 @@ void getModData(mountdata_t *mountdata){
if(Xst == ST_MOVE) Xst = Xmodel->proc_move(Xmodel, &Xp, tnow);
movestate_t Yst = Ymodel->get_state(Ymodel, &Yp);
if(Yst == ST_MOVE) Yst = Ymodel->proc_move(Ymodel, &Yp, tnow);
mountdata->motXposition.t = mountdata->encXposition.t = mountdata->motYposition.t = mountdata->encYposition.t = tnow;
mountdata->motXposition.val = mountdata->encXposition.val = Xp.coord;
mountdata->motYposition.val = mountdata->encYposition.val = Yp.coord;
getXspeed(); getYspeed();
if(tnow - oldmt > Conf.MountReqInterval){
oldmillis = mountdata->millis = (uint32_t)(tnow * 1e3);
oldmt = tnow;
}else mountdata->millis = oldmillis;
c->X.t = c->Y.t = tnow;
c->X.val = Xp.coord;
c->Y.val = Yp.coord;
if(xst) *xst = Xst;
if(yst) *yst = Yst;
}
/**