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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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47
Auxiliary_utils/LibSidServo/serial.c
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@@ -59,16 +59,20 @@ typedef struct __attribute__((packed)){
// calculate current X/Y speeds
void getXspeed(){
static double t0 = -1.; // time of start - eliminate problem of very large times in squares
if(t0 < 0.) t0 = mountdata.encXposition.t;
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t);
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t - t0);
if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
pthread_mutex_unlock(&datamutex);
//DBG("Xspeed=%g", mountdata.encXspeed.val);
#if 0
mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
@@ -78,16 +82,20 @@ void getXspeed(){
#endif
}
void getYspeed(){
static double t0 = -1.; // time of start - eliminate problem of very large times in squares
if(t0 < 0.) t0 = mountdata.encXposition.t;
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t);
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t - t0);
if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
mountdata.encYspeed.val = speed;
mountdata.encYspeed.t = mountdata.encYposition.t;
}
pthread_mutex_unlock(&datamutex);
#if 0
mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
mountdata.encYspeed.t = (lastYenc.t + mountdata.encYposition.t) / 2.;
@@ -325,15 +333,19 @@ static void *encoderthread2(void _U_ *u){
}
double v, t;
if(getencval(encfd[0], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encXposition.val = X_ENC2RAD(v);
//DBG("encX(%g) = %g", t, mountdata.encXposition.val);
mountdata.encXposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
getXspeed();
if(getencval(encfd[1], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encYposition.val = Y_ENC2RAD(v);
//DBG("encY(%g) = %g", t, mountdata.encYposition.val);
mountdata.encYposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
getYspeed();
errctr = 0;
@@ -384,12 +396,35 @@ static void *mountthread(void _U_ *u){
uint8_t buf[2*sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
bzero(&mountdata, sizeof(mountdata));
double t0 = nanotime(), tstart = t0;
static double oldmt = -100.; // old `millis measurement` time
static uint32_t oldmillis = 0;
if(Conf.RunModel) while(1){
pthread_mutex_lock(&datamutex);
coordval_pair_t c;
movestate_t xst, yst;
// now change data
getModData(&mountdata);
getModData(&c, &xst, &yst);
pthread_mutex_lock(&datamutex);
double tnow = c.X.t;
mountdata.encXposition.t = mountdata.encYposition.t = tnow;
mountdata.encXposition.val = c.X.val;
mountdata.encYposition.val = c.Y.val;
//DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
if(tnow - oldmt > Conf.MountReqInterval){
oldmillis = mountdata.millis = (uint32_t)((tnow - tstart) * 1e3);
mountdata.motYposition.t = mountdata.motXposition.t = tnow;
if(xst == ST_MOVE)
mountdata.motXposition.val = c.X.val + (c.X.val - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motXposition.val = c.X.val;
if(yst == ST_MOVE)
mountdata.motYposition.val = c.Y.val + (c.Y.val - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motYposition.val = c.Y.val;
oldmt = tnow;
}else mountdata.millis = oldmillis;
pthread_mutex_unlock(&datamutex);
double t0 = nanotime();
getXspeed(); getYspeed();
while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
t0 = nanotime();
}
@@ -572,7 +607,7 @@ void closeSerial(){
DBG("close encoder's fd");
close(encfd[0]);
encfd[0] = -1;
if(Conf.SepEncoder == 2){
if(Conf.SepEncoder == 2 && encfd[1] > -1){
close(encfd[1]);
encfd[1] = -1;
}