Tony Cao
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3a26aea082
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2kHz spin-lock mode: RTT halved to 2ms, per-byte XOR proof at 500us cycle
- ticker: --spin mode polls FPRD until payload changes (phase-locks
processing to TwinCAT frame arrival instead of free-running ticker),
timeout at 1.5 periods keeps loop alive on master stop
- verified: 238k cycles, 0 errors, exec=245us (FPWR-bound),
TwinCAT PLC task confirmed at 2000.8 Hz (all three tasks 0.5ms;
base tick was already 50us - no base-time change needed)
- docs: 500us latency plan; scripts: task-rate ADS probe, 2kHz deploy,
UI automation experiments (pywinauto) for task cycle inspection
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2026-07-28 00:11:34 +08:00 |
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