Fix race condition skipping reference velocity update #85
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@seiga-k please take a look. |
| @@ -109,7 +109,7 @@ void ISR_VelocityControl() | |||
| motor[i].ref.vel_diff = 0; | |||
| } | |||
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| motor[i].error = motor[i].ref.vel_buf - motor[i].vel; | |||
| motor[i].error = motor[i].ref.vel - motor[i].vel; | |||
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It seems better to leave this line as an old one.
Because if the interrupt occurs between these two lines https://github.com/T-frog/tf-2md3-firmware/pull/85/files#diff-bc1342d54328fc8b17402447f259b6dbR1529-R1530 , motor[i].ref.vel will not update but use new reference velocity.
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@seiga-k I think ref.vel can be updated as soon as possible.
Since ref.vel_changed flag is used to calculate acceleration of the reference for feed-forward dynamics compensation, it's not matter if ref.vel_buf has single step delay against ref.vel.
What do you think?
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Yes, it makes only a single step delay.
I thought the priority of the matching the ref.vel and ref.vel_diff is higher than the update delay.
This is only a balance of priority. I understood your opinion now, so I can agree with you.
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Another reason is that I would like to minimize possibility to miss updating the reference velocity, even if any other bugs are injected around ref.vel_changed.
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