From 508220676e23bab86a34b8fcc9c32a5b8ae6af51 Mon Sep 17 00:00:00 2001 From: manoukianv <10980775+manoukianv@users.noreply.github.com> Date: Mon, 28 Aug 2023 23:01:19 +0200 Subject: [PATCH] Fix encoder reset stat when all is ok --- encoder/enc_bissc.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/encoder/enc_bissc.c b/encoder/enc_bissc.c index 41804bc2..347da43c 100644 --- a/encoder/enc_bissc.c +++ b/encoder/enc_bissc.c @@ -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<