fix(encoder): 値が飛ぶバグを修正 #19
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値が counter period 分、飛ぶバグを修正
sya-ri
requested changes
Nov 22, 2023
tim/encoder.cpp
Outdated
| if (__HAL_TIM_IS_TIM_COUNTING_DOWN(htim)) { | ||
| count -= __HAL_TIM_GET_AUTORELOAD(htim); | ||
| } else { | ||
| if ((int32_t)(rawCount - lastRawCount) < (int32_t) - __HAL_TIM_GET_AUTORELOAD(htim) / 2) { |
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| if ((int32_t)(rawCount - lastRawCount) < (int32_t) - __HAL_TIM_GET_AUTORELOAD(htim) / 2) { | |
| if (((int32_t) (lastRawCount - rawCount)) > ((int32_t) (__HAL_TIM_GET_AUTORELOAD(htim) / 2))) { // overflow |
値が counter period 分、飛ぶバグを修正 原因： 想定していないタイミングで FLAG が立ち、 CLEAR されていたこと 解決策： FLAG を使って overflow / underflow を検知するのを辞めた
sya-ri
requested changes
Dec 7, 2023
tim/encoder.cpp
Outdated
| @@ -1,6 +1,7 @@ | |||
| #ifndef CONFIG_DISABLE_MODULE_TIM | |||
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| #include "tim/encoder.hpp" | |||
| #include <cmath> | |||
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| #include <cmath> |
cmath 使ってなさそう
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cmath を削除し、build が通ること、書き込んで実行できることを確かめました。 |
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値が counter period 分、飛ぶバグを修正しました。
（原因は1周期の間に複数回TIM_FLAGが立っていたときに、それを感知できなかったことだと思われます。）