jeka/MyOwnEtherCATDevice
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jitter flawed, removed

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This commit is contained in:
Hakan Bastedt
2024-04-04 10:38:27 +02:00
parent 34e60e43d8
commit dcf6c2d18a
1 changed files with 3 additions and 4 deletions
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7
Firmware/src/main.cpp
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@@ -85,7 +85,7 @@ uint64_t reallyNowTime = 0, reallyThenTime = 0; // Times in microseconds
uint64_t timeDiff; // Timediff in microseconds
int32_t delayT;
uint16_t avgCycleTime, thisCycleTime; // In usecs
int16_t jitterThisCycle = 0, maxCycleTime = 0;
int16_t maxCycleTime = 0;
volatile uint64_t oldIrqTime = 0;
@@ -98,10 +98,9 @@ void handleStepper(void)
}
oldIrqTime = irqTime;
if (cycleTimes.bufferIsFull()) // Do max and jitter calcs, just waiting a second
if (cycleTimes.bufferIsFull()) // Do max calcs, just waiting a second
{
avgCycleTime = cycleTimes.getFastAverage();
jitterThisCycle = irqTime - avgCycleTime;
uint16_t maxInBuffer = cycleTimes.getMaxInBuffer();
if (maxCycleTime < maxInBuffer)
maxCycleTime = maxInBuffer;
@@ -118,7 +117,7 @@ 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 = maxCycleTime + 50 - diffT - jitterThisCycle; // Add 50 as some saftey margin
delayT = maxCycleTime + 50 - diffT; // Add 50 as some saftey margin
if (delayT > 0 && delayT < 900)
{
syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok