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Adaptive (just max over time) maxIrqServeTime

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Hakan Bastedt
2024-04-07 22:35:52 +02:00
parent b164040829
commit 39e2ab31f1
1 changed files with 12 additions and 13 deletions
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25
Firmware/src/main.cpp
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@@ -22,7 +22,7 @@ void indexPulseEncoderCB1(void)
Encoder1.indexPulse(); Encoder1.indexPulse();
} }
#include <RunningAverage.h> #include <RunningAverage.h>
RunningAverage cycleTimes(1000); // To have a running average of the cycletime over the last second RunningAverage irqServeDelays(1000); // To have a running average of the irq serve delay over the last second
#include "StepGen3.h" #include "StepGen3.h"
StepGen3 *Step = 0; StepGen3 *Step = 0;
@@ -79,27 +79,26 @@ void basePeriodCB(void)
uint64_t timeDiff; // Timediff in microseconds uint64_t timeDiff; // Timediff in microseconds
int32_t delayT; int32_t delayT;
uint16_t avgCycleTime, thisCycleTime; // In usecs uint16_t avgCycleTime, thisCycleTime; // In usecs
int16_t maxCycleTime = 0; int16_t maxIrqServeTime = 0;
volatile uint64_t oldIrqTime = 0; volatile uint64_t oldIrqTime = 0;
uint16_t nLoops; uint16_t nLoops;
void handleStepper(void) void handleStepper(void)
{ {
if (oldIrqTime != 0) // See if there is a delay in data, normally it *should* be nLoops=1, but sometimes it is more
if (oldIrqTime != 0)
{ {
thisCycleTime = irqTime - oldIrqTime; thisCycleTime = irqTime - oldIrqTime;
cycleTimes.add(thisCycleTime);
nLoops = round(float(thisCycleTime) / float(sync0CycleTime)); nLoops = round(float(thisCycleTime) / float(sync0CycleTime));
} }
oldIrqTime = irqTime; oldIrqTime = irqTime;
if (cycleTimes.bufferIsFull()) // Do max calcs, just waiting a second uint32_t diffT = longTime.extendTime(micros()) - irqTime; // Time from interrupt was received by isr
irqServeDelays.add(diffT);
if (irqServeDelays.bufferIsFull()) // Do max calcs, just waiting a second
{ {
avgCycleTime = cycleTimes.getFastAverage(); uint16_t maxInBuffer = irqServeDelays.getMaxInBuffer();
uint16_t maxInBuffer = cycleTimes.getMaxInBuffer(); if (maxIrqServeTime < maxInBuffer)
if (maxCycleTime < maxInBuffer) maxIrqServeTime = maxInBuffer;
maxCycleTime = maxInBuffer;
} }
pos_cmd1 = Obj.CommandedPosition1; pos_cmd1 = Obj.CommandedPosition1;
@@ -113,9 +112,9 @@ void handleStepper(void)
// Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb; // Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
// Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb; // Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
uint32_t diffT = longTime.extendTime(micros()) - irqTime;
maxCycleTime = 600; //maxIrqServeTime = 600;
delayT = maxCycleTime + 50 - diffT; // Add 50 as some saftey margin delayT = maxIrqServeTime - diffT; // Add 10 as some safety margin
if (delayT > 0 && delayT < 900) if (delayT > 0 && delayT < 900)
{ {
syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok