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.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);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
@@ -118,7 +118,6 @@ void setup(void)
void loop(void)
{
ESCvar.PrevTime = ESCvar.Time;
if (serveIRQ)
{
@@ -126,7 +125,7 @@ void loop(void)
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
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();
}