eddy/BTA_utils
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1st approach

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This commit is contained in:
Edward Emelianov
2026-09-01 16:00:51 +03:00
parent 11f3553344
commit ae999fcd48
9 changed files with 104 additions and 38 deletions
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16
BTA_dome_modbus/motors.c
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@@ -42,6 +42,7 @@ static motor_state_t motstates[MOTORS_AMOUNT] = {0};
// set points
static double currentSet = DEFAULT_CURRENT, speedSet = 0.;
// flags for main routine
// TODO: add mutex or make flags atomic
static union{
struct{
uint32_t change_speed : 1;
@@ -85,7 +86,7 @@ static int motors_open_m(const char *path, int speed){
LOGERR("Can't open device %s @ %d", path, speed);
return FALSE;
}
modbus_set_response_timeout(modbus_ctx, 0, 50000); // 50ms response timeout
modbus_set_response_timeout(modbus_ctx, 0, MODBUS_RESPONCE_TIMEOUT); // response timeout
if(modbus_connect(modbus_ctx) < 0){
WARNX("Can't connect to device %s", path);
LOGERR("Can't connect to device %s", path);
@@ -135,7 +136,7 @@ int motors_set_speedsetpoint(double val){
int motors_get_activenum(){ return motindex; }
// set number of active motor
int motors_set_activenum(int N){
DBG("Set active motor=%d", N);
//DBG("Set active motor=%d", N);
if(N < 0 || N >= MOTORS_AMOUNT) return FALSE;
motindex = N;
return TRUE;
@@ -170,24 +171,29 @@ static void motors_process_m(){
if(flags.all){
if(-1 == modbus_set_slave(modbus_ctx, 0)) goto reg_error;
if(flags.stop){
DBG("User asks to stop");
speedSet = 0.;
// send command stop
if(-1 == modbus_write_register(modbus_ctx, REG_CMD, CMD_STOP)) goto reg_error;
flags.stop = 0;
}
if(flags.change_current){
DBG("User asks to change current to %g", currentSet);
// TODO: send command "max current"?
flags.change_current = 0;
}
if(flags.change_speed){
DBG("User asks to change speed to %g", speedSet);
// send command "set speed"
uint16_t dir = (speedSet > 0.) ? CMD_FORWARD : CMD_REVERSE;
uint16_t freq = (uint16_t)(fabs(speedSet) * FREQ_SCALE);
if(-1 == modbus_write_register(modbus_ctx, REG_FREQ_SET, freq)) goto reg_error;
if(-1 == modbus_write_register(modbus_ctx, REG_CMD, dir)) goto reg_error;
if(-1 == modbus_write_register(modbus_ctx, REG_FREQ_SET, freq)) goto reg_error;
flags.change_speed = 0;
}
flags.all = 0;
}
// set slave N
if(-1 == modbus_set_slave(modbus_ctx, curN)) goto reg_error;
if(-1 == modbus_set_slave(modbus_ctx, MOTOR_ID(curN))) goto reg_error;
// ask for speed/status/current
uint16_t regs[2];
if(-1 == modbus_read_registers(modbus_ctx, REG_STATUS_MAIN, 2, regs)){