jeka/MyOwnEtherCATDevice
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Debug comments

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This commit is contained in:
Hakan Bastedt
2024-01-23 11:17:00 +01:00
parent d93adac4a2
commit ef84d552e4
1 changed files with 2 additions and 3 deletions
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5
Firmware/src/main.cpp
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@@ -67,7 +67,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.StepGenOut1.ActualPosition = Step1.actPos(); Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.StepGenOut2.ActualPosition = Step2.actPos(); Obj.StepGenOut2.ActualPosition = Step2.actPos();
uint32_t dTim = nowTime - thenTime; uint32_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 microseconds
Tim.push(dTim); Tim.push(dTim);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX; uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++) for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
@@ -118,7 +118,6 @@ void setup(void)
void loop(void) void loop(void)
{ {
ESCvar.PrevTime = ESCvar.Time; ESCvar.PrevTime = ESCvar.Time;
if (serveIRQ) if (serveIRQ)
{ {
@@ -126,7 +125,7 @@ void loop(void)
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG); DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0; serveIRQ = 0;
} }
if (nowTime < 500 || nowTime > 1500) if (nowTime < 500 || nowTime > 1500) // Don't run ecat_slv_poll when expecting to server interrupt
ecat_slv_poll(); ecat_slv_poll();
} }