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https://github.com/eddyem/BTA_utils.git
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93 lines
2.4 KiB
C
93 lines
2.4 KiB
C
/*
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* This file is part of the sslsosk project.
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* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <usefull_macros.h>
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// minimal amount of working motors to spin dome
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#define MIN_WORKING_MOTORS 1
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// max errors per motor to mean it OFF
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#define MAX_ERRORS 5
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// freq_scale == 100, so for UINT16_t we can't make speed more than 655.35
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#define MAX_SPEED 655.
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#define SPEED_TOLERANCE 0.01
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// emulation acceleration, min^-2
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#define EMUL_ACCEL 10000.
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#define MAX_CURRENT 15.
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#define DEFAULT_CURRENT 10.
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#define MOTORS_AMOUNT 10
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// low, medium and high speeds
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#define LSpeed 71
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#define MSpeed 350
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#define HSpeed 610
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// log-file prefix length
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#define MAX_LOGPREFIX_LEN 31
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// modbus responce timeout, ms
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#define MODBUS_RESPONCE_TIMEOUT 100000
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// ID of first motor
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#define START_ID (1)
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// ID of nth motor (n=0..MOTORS_AMOUNT-1 - index)
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#define MOTOR_ID(n) (n + START_ID)
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// motors' status
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enum{
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MOT_OFF,
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MOT_SLEEP,
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MOT_RUN,
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MOT_ERROR
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};
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typedef struct{
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int status;
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double speed;
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double current;
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} motor_state_t;
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double motors_get_curntsetpoint();
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int motors_set_curntsetpoint(double);
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double motors_get_speedsetpoint();
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sl_sock_hresult_e motors_set_speedsetpoint(double);
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int motors_get_activenum();
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int motors_set_activenum(int);
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void motors_stop();
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int motors_get_actcurrent(double*);
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int motors_get_actspeed(double*);
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int motors_get_actstatus(int*);
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int motors_get_working_amount();
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extern void (*motors_process)();
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extern int (*motors_open)(const char *, int);
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extern void (*motors_close)();
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void set_emulation_mode();
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void get_logfile_prefix(char buf[MAX_LOGPREFIX_LEN+1]);
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int set_logfile_prefix(char *value);
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int start_log();
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void stop_log();
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