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This commit is contained in:
Timur A. Fatkhullin 2025-07-24 09:28:23 +03:00
parent 7e62c1d44a
commit 022ff155a9
2 changed files with 37 additions and 11 deletions
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44
cxx/asibfm700_hardware.cpp
View File

@ -90,12 +90,42 @@ std::string_view AsibFM700Hardware::id() const
} }
AsibFM700Hardware::error_t AsibFM700Hardware::getState(AsibFM700Hardware::hw_state_t& state) const
{
mountdata_t data;
error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
// are both motors stopped?
bool stop_motors = (data.extradata.ExtraBits & XMOTOR_STOP_BIT) && (data.extradata.ExtraBits & YMOTOR_STOP_BIT);
if (stop_motors) {
state = hw_state_t::HW_STATE_STOP;
return AsibFM700HardwareErrorCode::ERROR_OK;
}
}
return err;
}
AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos_t pos) AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos_t pos)
{ {
// according to hardware configuration (encoders pins (Eddy said)) X is DEC-axis and Y is HA-axis // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
double X = pos.y, Y = pos.x; double X = pos.y, Y = pos.x;
auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.moveTo(&X, &Y)); error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.moveTo(&X, &Y));
coordpair_t hw_pos{.X = pos.y, .Y = pos.x};
switch (pos.state) {
case hw_state_t::HW_STATE_SLEW: // slew mount
err = static_cast<AsibFM700HardwareErrorCode>(Mount.slewTo(&hw_pos, pos.flags));
break;
case hw_state_t::HW_STATE_TRACK: // interpretate as guiding correction
break;
case hw_state_t::HW_STATE_STOP:
break;
default:
break;
}
return err; return err;
} }
@ -105,7 +135,7 @@ AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos
AsibFM700Hardware::error_t AsibFM700Hardware::getPos(AsibFM700Hardware::axes_pos_t& pos) AsibFM700Hardware::error_t AsibFM700Hardware::getPos(AsibFM700Hardware::axes_pos_t& pos)
{ {
mountdata_t data; mountdata_t data;
auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data)); error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
if (err == AsibFM700HardwareErrorCode::ERROR_OK) { if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
// time point from sidservo library is 'double' number represented UNIXTIME with // time point from sidservo library is 'double' number represented UNIXTIME with
@ -124,13 +154,7 @@ AsibFM700Hardware::error_t AsibFM700Hardware::getPos(AsibFM700Hardware::axes_pos
pos.yrate = data.encXspeed.val; pos.yrate = data.encXspeed.val;
// mount state // mount state
err = getState(pos.state);
// are both motors stopped?
bool stop_motors = (data.extradata.ExtraBits & XMOTOR_STOP_BIT) && (data.extradata.ExtraBits & YMOTOR_STOP_BIT);
if (stop_motors) {
pos.state = hw_state_t::HW_STATE_STOP;
return AsibFM700HardwareErrorCode::ERROR_OK;
}
} }
return err; return err;

4
cxx/asibfm700_hardware.h
View File

@ -35,7 +35,7 @@ struct AsibFM700HardwareErrorCategory : public std::error_category {
}; };
inline std::error_code make_error_code(AsibFM700HardwareErrorCode ec) static inline std::error_code make_error_code(AsibFM700HardwareErrorCode ec)
{ {
return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get()); return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get());
} }
@ -77,6 +77,7 @@ public:
coord_t xrate, yrate; coord_t xrate, yrate;
hw_state_t state; hw_state_t state;
slewflags_t flags;
}; };
@ -105,6 +106,7 @@ public:
std::string_view id() const; std::string_view id() const;
error_t getState(hw_state_t&) const;
error_t setPos(axes_pos_t); error_t setPos(axes_pos_t);
error_t getPos(axes_pos_t&); error_t getPos(axes_pos_t&);