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Fix encoder reset stat when all is ok

This commit is contained in:
manoukianv 2023-08-28 23:01:19 +02:00
parent 3e09788c6c
commit 508220676e
1 changed files with 2 additions and 0 deletions
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2
encoder/enc_bissc.c
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@ -99,6 +99,7 @@ void enc_bissc_routine(BISSC_config_t *cfg) {
if (cfg->spi_dev->state == SPI_READY) {
spiSelectI(cfg->spi_dev);
spiStartReceiveI(cfg->spi_dev, 8, (void *)cfg->state.decod_buf);
UTILS_LP_FAST(encoder_cfg_bissc.state.spi_comm_error_rate, 0.0, 0.0001);
} else {
++encoder_cfg_bissc.state.spi_comm_error_cnt;
// compute rate with factor 0.0001 for 10000hz
@ -161,6 +162,7 @@ void compute_bissc_callback(SPIDriver *pspi) {
++cfg->state.spi_data_error_cnt;
UTILS_LP_FAST(cfg->state.spi_data_error_rate, 1.0, timestep);
} else {
UTILS_LP_FAST(cfg->state.spi_data_error_rate, 0.0, timestep);
cfg->state.last_enc_angle = ((float)cfg->state.spi_val * 360.0) / ((1<<lenghtDataBit) - 1);
}