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Adaptive max cycle time adjustment, use maxCycleTime

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This commit is contained in:
Hakan Bastedt
2024-04-03 21:21:51 +02:00
parent 294831465b
commit 34e60e43d8
1 changed files with 4 additions and 8 deletions
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12
Firmware/src/main.cpp
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@@ -118,10 +118,10 @@ void handleStepper(void)
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
uint32_t diffT = longTime.extendTime(micros()) - irqTime;
delayT = 500 - diffT;
delayT = maxCycleTime + 50 - diffT - jitterThisCycle; // Add 50 as some saftey margin
if (delayT > 0 && delayT < 900)
{
syncTimer->setOverflow(delayT, MICROSEC_FORMAT);
syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok
syncTimer->refresh();
syncTimer->resume();
}
@@ -247,12 +247,8 @@ void sync0Handler(void)
{
irqTime = longTime.extendTime(micros());
ALEventIRQ = ESC_ALeventread();
// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
serveIRQ = 1;
irqCnt++;
}
serveIRQ = 1;
irqCnt++;
}
// Enable SM2 interrupts