jeka/MyOwnEtherCATDevice
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Replaced runningaverage (uses malloc) with CircularBuffer

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Hakan Bastedt
2024-04-10 10:36:01 +02:00
parent ed9af2ec50
commit 37c14850bf
2 changed files with 13 additions and 9 deletions
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1
Firmware/platformio.ini
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@@ -22,4 +22,3 @@ build_flags = -Wl,--no-warn-rwx-segment
lib_deps = lib_deps =
SPI SPI
rlogiacco/CircularBuffer rlogiacco/CircularBuffer
robtillaart/RunningAverage

21
Firmware/src/main.cpp
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@@ -23,8 +23,9 @@ void indexPulseEncoderCB1(void)
encCnt++; encCnt++;
Encoder1.indexPulse(); Encoder1.indexPulse();
} }
#include <RunningAverage.h> // #include <RunningAverage.h>
RunningAverage irqServeDelays(1000); // To get the max delay of the irq serve time over the last second // RunningAverage irqServeDelays(1000); // To get the max delay of the irq serve time over the last second
CircularBuffer<uint16_t, 1000> irqServeDelays;
#include "StepGen3.h" #include "StepGen3.h"
StepGen3 *Step = 0; StepGen3 *Step = 0;
@@ -84,11 +85,17 @@ void handleStepper(void)
oldIrqTime = irqTime; oldIrqTime = irqTime;
uint32_t diffT = longTime.extendTime(micros()) - irqTime; // Time from interrupt was received by isr uint32_t diffT = longTime.extendTime(micros()) - irqTime; // Time from interrupt was received by isr
irqServeDelays.add(diffT); irqServeDelays.push(diffT);
if (irqServeDelays.bufferIsFull()) // Do max calcs, just waiting a second if (irqServeDelays.isFull()) // Do max calcs, just waiting a second
{ {
uint16_t maxInBuffer = irqServeDelays.getMaxInBuffer(); uint16_t maxInBuffer = 0;
if (maxIrqServeTime > maxInBuffer) // Reduce by one, slowly eating up excess time using index_t = decltype(irqServeDelays)::index_t;
for (index_t i = 0; i < irqServeDelays.size(); i++)
{
if (maxInBuffer < irqServeDelays[i])
maxInBuffer = irqServeDelays[i];
}
if (maxIrqServeTime > maxInBuffer) // Reduce by one, slowly eating up excess time
maxIrqServeTime--; maxIrqServeTime--;
if (maxIrqServeTime < maxInBuffer) if (maxIrqServeTime < maxInBuffer)
maxIrqServeTime = maxInBuffer; maxIrqServeTime = maxInBuffer;
@@ -180,8 +187,6 @@ void setup(void)
pinMode(PC9, OUTPUT); // Step Z pinMode(PC9, OUTPUT); // Step Z
pinMode(PC10, OUTPUT); // Dir Z pinMode(PC10, OUTPUT); // Dir Z
baseTimer = new HardwareTimer(TIM11); // The base period timer baseTimer = new HardwareTimer(TIM11); // The base period timer
setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000); setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);
// baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated // baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated