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fix encoders

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This commit is contained in:
Edward Emelianov
2026-03-11 10:05:02 +03:00
parent 205a190820
commit fa305a7cc0
1 changed files with 122 additions and 59 deletions
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181
Auxiliary_utils/LibSidServo/serial.c
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@@ -20,6 +20,7 @@
#include <errno.h>
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <pthread.h>
#include <signal.h>
#include <stdint.h>
@@ -64,14 +65,12 @@ void getXspeed(){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double dt = timediff0(&mountdata.encXposition.t);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
if(fabs(speed) < 1.5 * Xlimits.max.speed){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
pthread_mutex_unlock(&datamutex);
//DBG("Xspeed=%g", mountdata.encXspeed.val);
}
void getYspeed(){
@@ -80,14 +79,12 @@ void getYspeed(){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double dt = timediff0(&mountdata.encYposition.t);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
if(fabs(speed) < 1.5 * Ylimits.max.speed){
mountdata.encYspeed.val = speed;
mountdata.encYspeed.t = mountdata.encYposition.t;
}
pthread_mutex_unlock(&datamutex);
}
/**
@@ -136,13 +133,12 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
mountdata.encXposition.t = *t;
mountdata.encYposition.t = *t;
pthread_mutex_unlock(&datamutex);
//if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
//if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
getXspeed(); getYspeed();
pthread_mutex_unlock(&datamutex);
//DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
}
#if 0
/**
* @brief getencval - get uint64_t data from encoder
* @param fd - encoder fd
@@ -211,6 +207,8 @@ static int getencval(int fd, double *val, struct timespec *t){
if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
return got;
}
#endif
// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
static int getencbyte(){
if(encfd[0] < 0) return -1;
@@ -322,65 +320,130 @@ static void *encoderthread1(void _U_ *u){
return NULL;
}
#define XYBUFSZ (128)
typedef struct{
char buf[XYBUFSZ+1];
int len;
} buf_t;
// 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("buffer overfull: %d!", buf->len);
char *lastn = strrchr(buf->buf, '\n');
if(lastn){
fprintf(stderr, "BUFOVR: _%s_", buf->buf);
++lastn;
buf->len = XYBUFSZ - (lastn - buf->buf);
DBG("Memmove %d", buf->len);
memmove(lastn, buf->buf, buf->len);
buf->buf[buf->len] = 0;
}else buf->len = 0;
L = XYBUFSZ - buf->len;
}
int got = read(fd, &buf->buf[buf->len], L);
if(got < 0){
DBG("read()");
return FALSE;
}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);
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;
// read record between last '\n' and previous (or start of string)
char *last = &buf->buf[buf->len - 1];
//DBG("buf: _%s_", buf->buf);
if(*last != '\n') return FALSE;
*last = 0;
//DBG("buf: _%s_", buf->buf);
char *prev = strrchr(buf->buf, '\n');
if(!prev) prev = buf->buf;
else{
fprintf(stderr, "MORETHANONE: _%s_", buf->buf);
++prev; // after last '\n'
}
if(out) *out = atol(prev);
// clear buffer
buf->len = 0;
return TRUE;
}
// try to write '\n' asking new data portion; return FALSE if failed
static int asknext(int fd){
FNAME();
if(fd < 0) return FALSE;
int i = 0;
for(; i < 5; ++i){
int l = write(fd, "\n", 1);
//DBG("l=%d", l);
if(1 == l) return TRUE;
usleep(100);
}
DBG("5 tries... failed!");
return FALSE;
}
// main encoder thread for separate encoders as USB devices /dev/encoder_X0 and /dev/encoder_Y0
static void *encoderthread2(void _U_ *u){
if(Conf.SepEncoder != 2) return NULL;
DBG("Thread started");
struct pollfd pfds[2];
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];
long msrlast[2]; // last encoder data
double mtlast[2]; // last measurement time
asknext(encfd[0]); asknext(encfd[1]);
t0[0] = t0[1] = tstart = timefromstart();
int errctr = 0;
double t0 = timefromstart();
const char *req = "\n";
int need2ask = 0; // need or not to ask encoder for new data
while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
struct timespec t;
if(need2ask){
//DBG("ASK for new data, tfs=%.6g", timefromstart());
if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
//DBG("OK");
need2ask = 0;
usleep(100);
do{ // main cycle
if(poll(pfds, 2, 0) < 0){
DBG("poll()");
break;
}
if(!curtime(&t)){
DBG("Where is time?");
continue;
}
double v;
if(getencval(encfd[0], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encXposition.val = Xenc2rad(v);
mountdata.encXposition.t = t;
pthread_mutex_unlock(&datamutex);
//DBG("MDXpos: %.10g/%g (xez=%d, xesr=%.10g), tfs=%.6g", v, mountdata.encXposition.val, X_ENC_ZERO, X_ENC_STEPSPERREV, timefromstart());
getXspeed();
if(getencval(encfd[1], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encYposition.val = Yenc2rad(v);
mountdata.encYposition.t = t;
pthread_mutex_unlock(&datamutex);
//DBG("MDYpos: %.10g/%g (yez=%d, yesr=%.10g)", v, mountdata.encYposition.val, Y_ENC_ZERO, Y_ENC_STEPSPERREV);
getYspeed();
errctr = 0;
need2ask = 0;
//DBG("tgot=%.6g", timefromstart());
while(timefromstart() - t0 < Conf.EncoderReqInterval){ usleep(50); }
t0 = timefromstart();
}else{
DBG("NO Y DATA!!!");
/*if(need2ask) ++errctr;
else need2ask = 1;
continue;*/
++errctr;
need2ask = 1;
int got = 0;
for(int i = 0; i < 2; ++i){
if(pfds[i].revents && POLLIN){
if(!readstrings(&strbuf[i], encfd[i])){
++errctr;
break;
}
}
double curt = timefromstart();
if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
pthread_mutex_lock(&datamutex);
if(i == 0){
mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
curtime(&mountdata.encXposition.t);
getXspeed();
}else{
mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
curtime(&mountdata.encYposition.t);
getYspeed();
}
pthread_mutex_unlock(&datamutex);
}
if(!asknext(encfd[i])){
++errctr;
break;
}
t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
++got;
}
}else{ // no data - ask for new
//DBG("Need new, tfs=%.6g", timefromstart());
/*if(need2ask) ++errctr;
else need2ask = 1;
continue;*/
++errctr;
need2ask = 1;
}
}
if(got == 2) errctr = 0;
}while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
DBG("\n\nEXIT: ERRCTR=%d", errctr);
for(int i = 0; i < 2; ++i){
if(encfd[i] > -1){
@@ -463,8 +526,8 @@ static void *mountthread(void _U_ *u){
}else mountdata.millis = oldmillis;
chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
pthread_mutex_unlock(&datamutex);
getXspeed(); getYspeed();
pthread_mutex_unlock(&datamutex);
while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
t0 = timefromstart();
}