eddy/BTA_utils
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fix little bugs in derotator

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eddyem 2018-07-03 12:21:20 +03:00
parent 841ac20c88
commit b1771c5104
3 changed files with 32 additions and 20 deletions
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10
README.md
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@ -4,15 +4,17 @@ BTA_utils
clone of my BTA_utils on sourceforge clone of my BTA_utils on sourceforge
** jsonbta * jsonbta
Allows to stream BTA data over TCP socket Allows to stream BTA data over TCP socket
** Stellarium_control * Stellarium_control
Allows to point telescope with help of stellarium Allows to point telescope with help of stellarium
** fits_headers * fits_headers
Process FITS-files with WCS headers and calculate reference angle between plate angle (P2) and parallax angle Process FITS-files with WCS headers and calculate reference angle between plate angle (P2) and parallax angle
** wfs_read * wfs_read
Read WFS/DAT files got by SHA tool (Shack-Hartmann processing utilite) and get some information from it. Read WFS/DAT files got by SHA tool (Shack-Hartmann processing utilite) and get some information from it.
* p1rotator
Raspberry-Pi based tool for BTA field derotators

14
p1rotator/config.h
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@ -37,14 +37,14 @@
// End-switch - GPIO25 (leg22) // End-switch - GPIO25 (leg22)
#define ESW_PIN (25) #define ESW_PIN (25)
// Stepper: EN - GPIO18 (leg12), DIR - GPIO23 (leg16), STEP - GPIO24 (leg18) // Stepper: STEP - GPIO18 (leg12), DIR - GPIO23 (leg16), EN - GPIO24 (leg18)
#define DIR_PIN (23) #define DIR_PIN (23)
#define STEP_PIN (24) #define STEP_PIN (18)
#define EN_PIN (18) #define EN_PIN (24)
// active/passive levels (depending on stepper driver connection schematic) // active/passive levels (depending on stepper driver connection schematic)
#define PIN_ACTIVE (1) #define PIN_ACTIVE (0)
#define PIN_PASSIVE (0) #define PIN_PASSIVE (1)
// active level on end-switch: 0 - normally opened, 1 - normally closed // active level on end-switch: 0 - normally opened, 1 - normally closed
#define ESW_ACTIVE (0) #define ESW_ACTIVE (0)
@ -55,7 +55,7 @@
// maximum 200 steps per second // maximum 200 steps per second
#define MAX_SPEED (200) #define MAX_SPEED (200)
#define USTEP_DELAY (1./MAX_SPEED/USTEPS) #define USTEP_DELAY (1./MAX_SPEED/USTEPS/2)
// Position angle calculation (val_Alp, val_Del, S_time - for real work) // Position angle calculation (val_Alp, val_Del, S_time - for real work)
#define CALC_PA() calc_PA(SrcAlpha, SrcDelta, S_time) #define CALC_PA() calc_PA(SrcAlpha, SrcDelta, S_time)
@ -65,7 +65,7 @@
// microsteps per one revolution // microsteps per one revolution
#define ONETURN_USTEPS (ONETURN_STEPS * USTEPS * GEARRAT) #define ONETURN_USTEPS (ONETURN_STEPS * USTEPS * GEARRAT * 2)
// initial (wrong) value of microsteps counter // initial (wrong) value of microsteps counter
#define USTEPSBAD (2*ONETURN_USTEPS) #define USTEPSBAD (2*ONETURN_USTEPS)
// minimal PA delta // minimal PA delta

28
p1rotator/stepper.c
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@ -98,9 +98,11 @@ void print_PA(double ang){
#ifdef __arm__ #ifdef __arm__
static void Write(int pin, int val){ static void Write(int pin, int val){
double t0 = dtime();
if(val) val = 1; if(val) val = 1;
digitalWrite(pin, val); digitalWrite(pin, val);
while(digitalRead(pin) != val); while(digitalRead(pin) != val && dtime() - t0 > 1.);
if(digitalRead(pin) != val) WARNX("error setting pin value: need %d, got %d", val, digitalRead(pin));
} }
static void Toggle(int pin){ static void Toggle(int pin){
int v = digitalRead(pin); int v = digitalRead(pin);
@ -110,15 +112,19 @@ static void Toggle(int pin){
void setup_pins(){ void setup_pins(){
#ifdef __arm__ #ifdef __arm__
DBG("setup GPIO");
wiringPiSetupGpio(); wiringPiSetupGpio();
Write(EN_PIN, PIN_PASSIVE); // disable all @ start DBG("setup PINs");
Write(DIR_PIN, PIN_PASSIVE);
Write(STEP_PIN, PIN_PASSIVE);
pinMode(DIR_PIN, OUTPUT); pinMode(DIR_PIN, OUTPUT);
pinMode(EN_PIN, OUTPUT); pinMode(EN_PIN, OUTPUT);
pinMode(STEP_PIN, OUTPUT); pinMode(STEP_PIN, OUTPUT);
pinMode(ESW_PIN, INPUT); pinMode(ESW_PIN, INPUT);
Write(EN_PIN, PIN_PASSIVE); // disable all @ start
Write(DIR_PIN, PIN_PASSIVE);
Write(STEP_PIN, PIN_PASSIVE);
DBG("setup pullup");
pullUpDnControl(ESW_PIN, PUD_UP); pullUpDnControl(ESW_PIN, PUD_UP);
DBG("done");
#else // __arm__ #else // __arm__
green("Setup GPIO\n"); green("Setup GPIO\n");
#endif // __arm__ #endif // __arm__
@ -129,17 +135,19 @@ void setup_pins(){
*/ */
void stop_motor(){ void stop_motor(){
// force_exit = 1; // force_exit = 1;
usleep(1000); // usleep(1000);
#ifdef __arm__ #ifdef __arm__
// disable motor & all other // disable motor & all other
pullUpDnControl(ESW_PIN, PUD_OFF); DBG("return pin modes");
pinMode(DIR_PIN, INPUT);
pinMode(EN_PIN, INPUT);
pinMode(STEP_PIN, INPUT);
// return values to initial state // return values to initial state
Write(EN_PIN, 0); Write(EN_PIN, 0);
Write(DIR_PIN, 0); Write(DIR_PIN, 0);
Write(STEP_PIN, 0); Write(STEP_PIN, 0);
pinMode(DIR_PIN, INPUT);
//pinMode(EN_PIN, INPUT);
pinMode(STEP_PIN, INPUT);
DBG("pull control");
pullUpDnControl(ESW_PIN, PUD_OFF);
DBG("STOPPED"); DBG("STOPPED");
#else #else
green("Stop Stepper\n"); green("Stop Stepper\n");
@ -170,6 +178,7 @@ static void move_motor(int nusteps){
dir = -1; dir = -1;
nusteps = -nusteps; nusteps = -nusteps;
} }
DBG("moving for %d steps", nusteps);
#ifdef __arm__ #ifdef __arm__
Write(DIR_PIN, (dir > 0) ? DIR_POSITIVE : DIR_NEGATIVE); // prepare direction Write(DIR_PIN, (dir > 0) ? DIR_POSITIVE : DIR_NEGATIVE); // prepare direction
for(; nusteps; --nusteps){ for(; nusteps; --nusteps){
@ -187,6 +196,7 @@ int gotozero(){
#ifdef __arm__ #ifdef __arm__
int nusteps = ONETURN_USTEPS * 1.1; int nusteps = ONETURN_USTEPS * 1.1;
Write(DIR_PIN, DIR_NEGATIVE); Write(DIR_PIN, DIR_NEGATIVE);
DBG("go to zero position");
for(; nusteps; --nusteps){ for(; nusteps; --nusteps){
Toggle(STEP_PIN); Toggle(STEP_PIN);
mk_pause(USTEP_DELAY); mk_pause(USTEP_DELAY);