eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

introduce a lot of errors when trying to apply model

Browse Source
This commit is contained in:
Edward V. Emelianov 2025-07-30 16:45:42 +03:00
parent 502014bee4
commit 04ee999159
11 changed files with 627 additions and 113 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

108
LibSidServo/main.c
View File

@ -16,28 +16,82 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* main functions to fill struct `mount_t`
*/
#include <inttypes.h>
#include <strings.h>
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include "dbg.h"
#include "main.h"
#include "movingmodel.h"
#include "serial.h"
#include "ssii.h"
conf_t Conf = {0};
// parameters for model
static movemodel_t *Xmodel, *Ymodel;
// radians, rad/sec, rad/sec^2
static limits_t
Xlimits = {
.min = {.coord = -3.1241, .speed = 1e-8, .accel = 1e-6},
.max = {.coord = 3.1241, .speed = MCC_MAX_X_SPEED, .accel = MCC_X_ACCELERATION}},
Ylimits = {
.min = {.coord = -3.1241, .speed = 1e-8, .accel = 1e-6},
.max = {.coord = 3.1241, .speed = MCC_MAX_Y_SPEED, .accel = MCC_Y_ACCELERATION}}
;
static mcc_errcodes_t shortcmd(short_command_t *cmd);
/**
* @brief nanotime - monotonic time from first run
* @return time in seconds
*/
double nanotime(){
static struct timespec *start = NULL;
struct timespec now;
if(!start){
start = malloc(sizeof(struct timespec));
if(!start) return -1.;
if(clock_gettime(CLOCK_MONOTONIC, start)) return -1.;
}
if(clock_gettime(CLOCK_MONOTONIC, &now)) return -1.;
double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
double sd = (double)now.tv_sec - (double)start->tv_sec;
return sd + nd;
}
/**
* @brief quit - close all opened and return to default state
*/
static void quit(){
DBG("Close serial devices");
if(Conf.RunModel) return;
for(int i = 0; i < 10; ++i) if(SSstop(TRUE)) break;
DBG("Close all serial devices");
closeSerial();
DBG("Exit");
}
void getModData(mountdata_t *mountdata){
if(!mountdata || !Xmodel || !Ymodel) return;
double tnow = nanotime();
moveparam_t Xp, Yp;
movestate_t Xst = Xmodel->get_state(&Xp);
if(Xst == ST_MOVE) Xst = Xmodel->proc_move(&Xp, tnow);
movestate_t Yst = Ymodel->get_state(&Yp);
if(Yst == ST_MOVE) Yst = Ymodel->proc_move(&Yp, tnow);
bzero(mountdata, sizeof(mountdata_t));
mountdata->motXposition.t = mountdata->encXposition.t = mountdata->motYposition.t = mountdata->encYposition.t = tnow;
mountdata->motXposition.val = mountdata->encXposition.val = Xp.coord;
mountdata->motYposition.val = mountdata->encYposition.val = Yp.coord;
mountdata->encXspeed.t = mountdata->encYspeed.t = tnow;
mountdata->encXspeed.val = Xp.speed;
mountdata->encYspeed.val = Yp.speed;
mountdata->millis = (uint32_t)(tnow * 1e3);
}
/**
* @brief init - open serial devices and do other job
* @param c - initial configuration
@ -48,6 +102,12 @@ static mcc_errcodes_t init(conf_t *c){
if(!c) return MCC_E_BADFORMAT;
Conf = *c;
mcc_errcodes_t ret = MCC_E_OK;
Xmodel = model_init(&Xlimits);
Ymodel = model_init(&Ylimits);
if(Conf.RunModel){
if(!Xmodel || !Ymodel) return MCC_E_FAILED;
return MCC_E_OK;
}
if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
DBG("Define mount device path and speed");
ret = MCC_E_BADFORMAT;
@ -102,6 +162,7 @@ static int chkYs(double s){
static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
(void)target;
(void)flags;
//if(Conf.RunModel) return ... ;
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
//...
setStat(MNT_SLEWING, MNT_SLEWING);
@ -119,6 +180,14 @@ static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
static mcc_errcodes_t move2(const coordpair_t *target){
if(!target) return MCC_E_BADFORMAT;
if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
if(Conf.RunModel){
double curt = nanotime();
moveparam_t param = {0};
param.coord = target->X; param.speed = MCC_MAX_X_SPEED;
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
param.coord = target->Y; param.speed = MCC_MAX_Y_SPEED;
if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
}
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
short_command_t cmd = {0};
DBG("x,y: %g, %g", target->X, target->Y);
@ -140,6 +209,7 @@ static mcc_errcodes_t move2(const coordpair_t *target){
*/
static mcc_errcodes_t setspeed(const coordpair_t *tagspeed){
if(!tagspeed || !chkXs(tagspeed->X) || !chkYs(tagspeed->Y)) return MCC_E_BADFORMAT;
if(Conf.RunModel) return MCC_E_FAILED;
int32_t spd = X_RS2MOTSPD(tagspeed->X);
if(!SSsetterI(CMD_SPEEDX, spd)) return MCC_E_FAILED;
spd = Y_RS2MOTSPD(tagspeed->Y);
@ -157,6 +227,14 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
if(!target || !speed) return MCC_E_BADFORMAT;
if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
if(Conf.RunModel){
double curt = nanotime();
moveparam_t param = {0};
param.coord = target->X; param.speed = speed->X;
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
param.coord = target->Y; param.speed = speed->Y;
if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
}
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
short_command_t cmd = {0};
cmd.Xmot = target->X;
@ -174,11 +252,23 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
* @return errcode
*/
static mcc_errcodes_t emstop(){
if(Conf.RunModel){
double curt = nanotime();
Xmodel->emergency_stop(curt);
Ymodel->emergency_stop(curt);
return MCC_E_OK;
}
if(!SSstop(TRUE)) return MCC_E_FAILED;
return MCC_E_OK;
}
// normal stop
static mcc_errcodes_t stop(){
if(Conf.RunModel){
double curt = nanotime();
Xmodel->stop(curt);
Ymodel->stop(curt);
return MCC_E_OK;
}
if(!SSstop(FALSE)) return MCC_E_FAILED;
return MCC_E_OK;
}
@ -190,6 +280,7 @@ static mcc_errcodes_t stop(){
*/
static mcc_errcodes_t shortcmd(short_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
if(Conf.RunModel) return MCC_E_FAILED;
SSscmd s = {0};
DBG("tag: xmot=%g rad, ymot=%g rad", cmd->Xmot, cmd->Ymot);
s.Xmot = X_RAD2MOT(cmd->Xmot);
@ -205,12 +296,13 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
}
/**
* @brief shortcmd - send and receive long binary command
* @brief longcmd - send and receive long binary command
* @param cmd (io) - command
* @return errcode
*/
static mcc_errcodes_t longcmd(long_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
if(Conf.RunModel) return MCC_E_FAILED;
SSlcmd l = {0};
l.Xmot = X_RAD2MOT(cmd->Xmot);
l.Ymot = Y_RAD2MOT(cmd->Ymot);
@ -226,6 +318,7 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
if(!hwConfig) return MCC_E_BADFORMAT;
if(Conf.RunModel) return MCC_E_FAILED;
SSconfig config;
if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
// Convert acceleration (ticks per loop^2 to rad/s^2)
@ -266,8 +359,8 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
// Copy ticks per revolution
hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
hwConfig->Xmetpr = __bswap_32(config.Xmetpr);
hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
hwConfig->Xmetpr = __bswap_32(config.Xmetpr) / 4; // as documentation said, real ticks are 4 times less
hwConfig->Ymetpr = __bswap_32(config.Ymetpr) / 4;
// Convert slew rates (ticks per loop to rad/s)
hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
@ -290,6 +383,7 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
SSconfig config;
if(Conf.RunModel) return MCC_E_FAILED;
// Convert acceleration (rad/s^2 to ticks per loop^2)
config.Xconf.accel = X_RS2MOTACC(hwConfig->Xconf.accel);
config.Yconf.accel = Y_RS2MOTACC(hwConfig->Yconf.accel);
@ -359,5 +453,5 @@ mount_t Mount = {
.longCmd = longcmd,
.getHWconfig = get_hwconf,
.saveHWconfig = write_hwconf,
.currentT = dtime,
.currentT = nanotime,
};

70
LibSidServo/main.h Normal file
View File

@ -0,0 +1,70 @@
/*
* This file is part of the libsidservo project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Almost all here used for debug purposes
*/
#pragma once
#include <stdlib.h>
#include "sidservo.h"
extern conf_t Conf;
double nanotime();
void getModData(mountdata_t *mountdata);
// unused arguments of functions
#define _U_ __attribute__((__unused__))
// break absent in `case`
#define FALLTHRU __attribute__ ((fallthrough))
// and synonym for FALLTHRU
#define NOBREAKHERE __attribute__ ((fallthrough))
// weak functions
#define WEAK __attribute__ ((weak))
#ifndef DBL_EPSILON
#define DBL_EPSILON (2.2204460492503131e-16)
#endif
#ifndef FALSE
#define FALSE (0)
#endif
#ifndef TRUE
#define TRUE (1)
#endif
#ifdef EBUG
#include <stdio.h>
#define COLOR_RED "\033[1;31;40m"
#define COLOR_GREEN "\033[1;32;40m"
#define COLOR_OLD "\033[0;0;0m"
#define FNAME() do{ fprintf(stderr, COLOR_GREEN "\n%s " COLOR_OLD, __func__); \
fprintf(stderr, "(%s, line %d)\n", __FILE__, __LINE__);} while(0)
#define DBG(...) do{ fprintf(stderr, COLOR_RED "\n%s " COLOR_OLD, __func__); \
fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \
fprintf(stderr, "\n");} while(0)
#else // EBUG
#define FNAME()
#define DBG(...)
#endif // EBUG

63
LibSidServo/movingmodel.c Normal file
View File

@ -0,0 +1,63 @@
/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <pthread.h>
#include "main.h"
#include "movingmodel.h"
#include "ramp.h"
extern movemodel_t trapez;
static void chkminmax(double *min, double *max){
if(*min <= *max) return;
double t = *min;
*min = *max;
*max = t;
}
movemodel_t *model_init(limits_t *l){
if(!l) return FALSE;
movemodel_t *model = calloc(1, sizeof(movemodel_t));
memcpy(model, &trapez, sizeof(movemodel_t));
if(!model->init_limits) goto fail;
moveparam_t *max = &l->max, *min = &l->min;
if(min->speed < 0.) min->speed = -min->speed;
if(max->speed < 0.) max->speed = -max->speed;
if(min->accel < 0.) min->accel = -min->accel;
if(max->accel < 0.) max->accel = -max->accel;
chkminmax(&min->coord, &max->coord);
chkminmax(&min->speed, &max->speed);
chkminmax(&min->accel, &max->accel);
if(!model->init_limits(l)) return NULL;
return model;
fail:
free(model); return NULL;
}
int model_move2(movemodel_t *model, moveparam_t *target, double t){
if(!target || !model) return FALSE;
DBG("MOVE to %g at speed %g", target->coord, target->speed);
// only positive velocity
if(target->speed < 0.) target->speed = -target->speed;
// don't mind about acceleration - user cannot set it now
return model->calculate(target, t);
}

60
LibSidServo/movingmodel.h Normal file
View File

@ -0,0 +1,60 @@
/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "sidservo.h"
// tolerance, time ticks
#define COORD_TOLERANCE_DEFAULT (0.01)
#define COORD_TOLERANCE_MIN (0.0001)
#define COORD_TOLERANCE_MAX (10.)
#define TIME_TICK_DEFAULT (0.0001)
#define TIME_TICK_MIN (1e-9)
#define TIME_TICK_MAX (10.)
typedef enum{
ST_STOP, // stopped
ST_MOVE, // moving
ST_AMOUNT
} movestate_t;
typedef struct{
double coord;
double speed;
double accel;
} moveparam_t;
typedef struct{
moveparam_t min;
moveparam_t max;
double acceleration;
} limits_t;
typedef struct{
int (*init_limits)(limits_t *lim); // init values of limits, jerk
int (*calculate)(moveparam_t *target, double t); // calculate stages of traectory beginning from t
movestate_t (*proc_move)(moveparam_t *next, double t); // calculate next model point for time t
movestate_t (*get_state)(moveparam_t *cur); // get current moving state
void (*stop)(double t); // stop by ramp
void (*emergency_stop)(double t); // stop with highest acceleration
double (*stoppenanotime)(); // time when moving will ends
} movemodel_t;
movemodel_t *model_init(limits_t *l);
int model_move2(movemodel_t *model, moveparam_t *target, double t);

220
LibSidServo/ramp.c Normal file
View File

@ -0,0 +1,220 @@
/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// simplest trapezioidal ramp
#include <math.h>
#include <strings.h>
#include "main.h"
#include "ramp.h"
static double coord_tolerance = COORD_TOLERANCE_DEFAULT;
static movestate_t state = ST_STOP;
static moveparam_t Min, Max;
typedef enum{
STAGE_ACCEL, // start from zero speed and accelerate to Max speed
STAGE_MAXSPEED, // go with target speed
STAGE_DECEL, // go from target speed to zero
STAGE_STOPPED, // stop
STAGE_AMOUNT
} movingstage_t;
static movingstage_t movingstage = STAGE_STOPPED;
static double Times[STAGE_AMOUNT] = {0}; // time when each stage starts
static moveparam_t Params[STAGE_AMOUNT] = {0}; // starting parameters for each stage
static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
static int initlims(limits_t *lim){
if(!lim) return FALSE;
Min = lim->min;
Max = lim->max;
return TRUE;
}
static void emstop(double _U_ t){
curparams.accel = 0.;
curparams.speed = 0.;
bzero(Times, sizeof(Times));
bzero(Params, sizeof(Params));
state = ST_STOP;
movingstage = STAGE_STOPPED;
}
static void stop(double t){
if(state == ST_STOP || movingstage == STAGE_STOPPED) return;
movingstage = STAGE_DECEL;
state = ST_MOVE;
Times[STAGE_DECEL] = t;
Params[STAGE_DECEL].speed = curparams.speed;
if(curparams.speed > 0.) Params[STAGE_DECEL].accel = -Max.accel;
else Params[STAGE_DECEL].accel = Max.accel;
Params[STAGE_DECEL].coord = curparams.coord;
// speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
Times[STAGE_STOPPED] = t - curparams.speed / Params[STAGE_DECEL].accel;
// coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
double dt = Times[STAGE_STOPPED] - t;
Params[STAGE_STOPPED].coord = curparams.coord + curparams.speed * dt +
Params[STAGE_DECEL].accel * dt * dt / 2.;
}
/**
* @brief calc - moving calculation
* @param x - using max speed (>0!!!) and coordinate
* @param t - current time value
* @return FALSE if can't move with given parameters
*/
static int calc(moveparam_t *x, double t){
if(!x) return FALSE;
if(x->coord < Min.coord || x->coord > Max.coord) return FALSE;
if(x->speed < Min.speed || x->speed > Max.speed) return FALSE;
double Dx = fabs(x->coord - curparams.coord); // full distance
double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
// we have two variants: with or without stage with constant speed
double dt23 = x->speed / Max.accel; // time of deceleration stage for given speed
double dx23 = x->speed * dt23 / 2.; // distance on dec stage (abs)
DBG("Dx=%g, sign=%g, dt23=%g, dx23=%g", Dx, sign, dt23, dx23);
double setspeed = x->speed; // new max speed (we can change it if need)
double dt01, dx01; // we'll fill them depending on starting conditions
Times[0] = t;
Params[0].speed = curparams.speed;
Params[0].coord = curparams.coord;
double curspeed = fabs(curparams.speed);
double dt0s = curspeed / Max.accel; // time of stopping phase
double dx0s = curspeed * dt0s / 2.; // distance
DBG("dt0s=%g, dx0s=%g", dt0s, dx0s);
if(dx0s > Dx){
DBG("distance too short");
return FALSE;
}
if(fabs(Dx - dx0s) < coord_tolerance){ // just stop and we'll be on target
DBG("Distance good to just stop");
stop(t);
return TRUE;
}
if(curparams.speed * sign < 0. || state == ST_STOP){ // we should change speed sign
// after stop we will have full profile
double dxs3 = Dx - dx0s;
double newspeed = sqrt(Max.accel * dxs3);
if(newspeed < setspeed) setspeed = newspeed; // we can't reach user speed
DBG("dxs3=%g, setspeed=%g", dxs3, setspeed);
dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
Params[0].accel = sign * Max.accel;
if(state == ST_STOP) dx01 = setspeed * dt01 / 2.;
else dx01 = dt01 * (dt01 / 2. * Max.accel - curspeed);
DBG("dx01=%g, dt01=%g", dx01, dt01);
}else{ // increase or decrease speed without stopping phase
dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
double a = sign * Max.accel;
if(sign * curparams.speed < 0.){DBG("change direction"); a = -a;}
else if(curspeed > setspeed){ DBG("lower speed @ this direction"); a = -a;}
//double a = (curspeed > setspeed) ? -Max.accel : Max.accel;
dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.;
DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01);
if(dx01 + dx23 > Dx){ // calculate max speed
setspeed = sqrt(Max.accel * Dx - curspeed * curspeed / 2.);
if(setspeed < curspeed){
setspeed = curparams.speed;
dt01 = 0.; dx01 = 0.;
Params[0].accel = 0.;
}else{
Params[0].accel = a;
dt01 = fabs(setspeed - curspeed) / Max.accel;
dx01 = curspeed * dt01 + Max.accel * dt01 * dt01 / 2.;
}
}else Params[0].accel = a;
}
if(setspeed < Min.speed){
DBG("New speed should be too small");
return FALSE;
}
moveparam_t *p = &Params[STAGE_MAXSPEED];
p->accel = 0.; p->speed = sign * setspeed;
p->coord = curparams.coord + dx01 * sign;
Times[STAGE_MAXSPEED] = Times[0] + dt01;
dt23 = setspeed / Max.accel;
dx23 = setspeed * dt23 / 2.;
// calculate dx12 and dt12
double dx12 = Dx - dx01 - dx23;
if(dx12 < -coord_tolerance){
DBG("Oops, WTF dx12=%g?", dx12);
return FALSE;
}
double dt12 = dx12 / setspeed;
p = &Params[STAGE_DECEL];
p->accel = -sign * Max.accel;
p->speed = sign * setspeed;
p->coord = Params[STAGE_MAXSPEED].coord + sign * dx12;
Times[STAGE_DECEL] = Times[STAGE_MAXSPEED] + dt12;
p = &Params[STAGE_STOPPED];
p->accel = 0.; p->speed = 0.; p->coord = x->coord;
Times[STAGE_STOPPED] = Times[STAGE_DECEL] + dt23;
for(int i = 0; i < 4; ++i)
DBG("%d: t=%g, coord=%g, speed=%g, accel=%g", i,
Times[i], Params[i].coord, Params[i].speed, Params[i].accel);
state = ST_MOVE;
movingstage = STAGE_ACCEL;
return TRUE;
}
static movestate_t proc(moveparam_t *next, double t){
if(state == ST_STOP) goto ret;
for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
if(Times[s] <= t){ // check time for current stage
movingstage = s;
break;
}
}
if(movingstage == STAGE_STOPPED){
curparams.coord = Params[STAGE_STOPPED].coord;
emstop(t);
goto ret;
}
// calculate current parameters
double dt = t - Times[movingstage];
double a = Params[movingstage].accel;
double v0 = Params[movingstage].speed;
double x0 = Params[movingstage].coord;
curparams.accel = a;
curparams.speed = v0 + a * dt;
curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
ret:
if(next) *next = curparams;
return state;
}
static movestate_t getst(moveparam_t *cur){
if(cur) *cur = curparams;
return state;
}
static double gettstop(){
return Times[STAGE_STOPPED];
}
movemodel_t trapez = {
.init_limits = initlims,
.stop = stop,
.emergency_stop = emstop,
.get_state = getst,
.calculate = calc,
.proc_move = proc,
.stoppenanotime = gettstop,
};

23
LibSidServo/ramp.h Normal file
View File

@ -0,0 +1,23 @@
/*
* This file is part of the moving_model project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "movingmodel.h"
extern movemodel_t trapez;

114
LibSidServo/serial.c
View File

@ -21,16 +21,17 @@
#include <fcntl.h>
#include <math.h>
#include <pthread.h>
#include <signal.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <time.h>
#include <unistd.h>
#include "dbg.h"
#include "main.h"
#include "movingmodel.h"
#include "serial.h"
// serial devices FD
@ -55,45 +56,6 @@ typedef struct __attribute__((packed)){
uint8_t CRC[4];
} enc_t;
/**
* @brief dtime - monotonic time from first run
* @return
*/
double dtime(){
struct timespec start_time = {0}, cur_time;
if(start_time.tv_sec == 0 && start_time.tv_nsec == 0){
clock_gettime(CLOCK_MONOTONIC, &start_time);
}
clock_gettime(CLOCK_MONOTONIC, &cur_time);
return ((double)(cur_time.tv_sec - start_time.tv_sec) +
(cur_time.tv_nsec - start_time.tv_nsec) * 1e-9);
}
#if 0
double dtime(){
double t;
struct timeval tv;
gettimeofday(&tv, NULL);
t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
return t;
}
#endif
#if 0
double tv2d(struct timeval *tv){
if(!tv) return 0.;
double t = tv->tv_sec + ((double)tv->tv_usec) / 1e6;
return t;
}
#endif
#if 0
// init start time
static void gttime(){
struct timeval tv;
gettimeofday(&tv, NULL);
tv_sec_got = tv.tv_sec;
tv_usec_got = tv.tv_usec;
}
#endif
// calculate current X/Y speeds
static void getXspeed(double t){
mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
@ -170,7 +132,7 @@ static int getencval(int fd, double *val, double *t){
if(fd < 0) return FALSE;
char buf[128];
int got = 0, Lmax = 127;
double t0 = dtime();
double t0 = nanotime();
do{
fd_set rfds;
FD_ZERO(&rfds);
@ -189,7 +151,7 @@ static int getencval(int fd, double *val, double *t){
buf[got] = 0;
} else continue;
if(strchr(buf, '\n')) break;
}while(Lmax && dtime() - t0 < Conf.EncoderReqInterval);
}while(Lmax && nanotime() - t0 < Conf.EncoderReqInterval);
if(got == 0) return 0; // WTF?
char *estr = strrchr(buf, '\n');
if(!estr) return 0;
@ -277,7 +239,7 @@ static void *encoderthread1(void _U_ *u){
if((uint8_t)b == ENC_MAGICK){
// DBG("Got magic -> start filling packet");
databuf[wridx++] = (uint8_t) b;
t = dtime();
t = nanotime();
}
continue;
}else databuf[wridx++] = (uint8_t) b;
@ -298,13 +260,13 @@ static void *encoderthread2(void _U_ *u){
if(Conf.SepEncoder != 2) return NULL;
DBG("Thread started");
int errctr = 0;
double t0 = dtime();
const char *req = "next\n";
double t0 = nanotime();
const char *req = "\n";
int need2ask = 0; // need or not to ask encoder for new data
while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
if(need2ask){
if(5 != write(encfd[0], req, 5)) { ++errctr; continue; }
else if(5 != write(encfd[1], req, 5)) { ++errctr; continue; }
if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
}
double v, t;
if(getencval(encfd[0], &v, &t)){
@ -329,9 +291,9 @@ static void *encoderthread2(void _U_ *u){
else need2ask = 1;
continue;
}
while(dtime() - t0 < Conf.EncoderReqInterval){ usleep(10); }
//DBG("DT=%g (RI=%g)", dtime()-t0, Conf.EncoderReqInterval);
t0 = dtime();
while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
//DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
t0 = nanotime();
}
DBG("ERRCTR=%d", errctr);
for(int i = 0; i < 2; ++i){
@ -364,20 +326,25 @@ static void *mountthread(void _U_ *u){
int errctr = 0;
uint8_t buf[2*sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
if(Conf.RunModel)
while(1){
pthread_mutex_lock(&datamutex);
// now change data
getModData(&mountdata);
pthread_mutex_unlock(&datamutex);
double t0 = nanotime();
while(nanotime() - t0 < Conf.MountReqInterval) usleep(500);
t0 = nanotime();
}
// data to get
data_t d = {.buf = buf, .maxlen = sizeof(buf)};
// cmd to send
data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
if(!cmd_getstat) goto failed;
double t0 = dtime();
/*
#ifdef EBUG
double t00 = t0;
#endif
*/
while(mntfd > -1 && errctr < MAX_ERR_CTR){
// read data to status
double tgot = dtime();
double tgot = nanotime(), t0 = tgot;
DBG("tgot=%g", tgot);
if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
#ifdef EBUG
DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
@ -396,10 +363,8 @@ static void *mountthread(void _U_ *u){
SSconvstat(status, &mountdata, tgot);
pthread_mutex_unlock(&datamutex);
// allow writing & getters
//DBG("t0=%g, tnow=%g", t0-t00, dtime()-t00);
if(dtime() - t0 >= Conf.MountReqInterval) usleep(50);
while(dtime() - t0 < Conf.MountReqInterval);
t0 = dtime();
while(nanotime() - t0 < Conf.MountReqInterval) usleep(500);
t0 = nanotime();
}
data_free(&cmd_getstat);
failed:
@ -435,6 +400,7 @@ static int ttyopen(const char *path, speed_t speed){
// return FALSE if failed
int openEncoder(){
if(Conf.RunModel) return TRUE;
if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
if(Conf.SepEncoder == 1){ // only one device
DBG("One device");
@ -442,7 +408,7 @@ int openEncoder(){
encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
if(encfd[0] < 0) return FALSE;
encRtmout.tv_sec = 0;
encRtmout.tv_usec = 200000000 / Conf.EncoderDevSpeed; // 20 bytes
encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
close(encfd[0]);
encfd[0] = -1;
@ -472,6 +438,7 @@ int openEncoder(){
// return FALSE if failed
int openMount(){
if(Conf.RunModel) return TRUE;
if(mntfd > -1) close(mntfd);
DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
mntfd = ttyopen(Conf.MountDevPath, (speed_t) Conf.MountDevSpeed);
@ -487,7 +454,7 @@ int openMount(){
DBG("got %zd", l);
}while(1);*/
mntRtmout.tv_sec = 0;
mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes
mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
if(pthread_create(&mntthread, NULL, mountthread, NULL)){
DBG("Can't create thread");
close(mntfd);
@ -500,21 +467,22 @@ int openMount(){
// close all opened serial devices and quit threads
void closeSerial(){
if(Conf.RunModel) return;
if(mntfd > -1){
DBG("Kill mount thread");
DBG("Cancel mount thread");
pthread_cancel(mntthread);
DBG("join mount thread");
pthread_join(mntthread, NULL);
DBG("close fd");
DBG("close mount fd");
close(mntfd);
mntfd = -1;
}
if(encfd[0] > -1){
DBG("Kill encoder thread");
DBG("Cancel encoder thread");
pthread_cancel(encthread);
DBG("join encoder thread");
pthread_join(encthread, NULL);
DBG("close fd");
DBG("close encoder's fd");
close(encfd[0]);
encfd[0] = -1;
if(Conf.SepEncoder == 2){
@ -548,7 +516,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
DBG("written bytes not equal to need");
return FALSE;
}
//DBG("Send to mount %zd bytes: %s", out->len, out->buf);
DBG("Send to mount %zd bytes: %s", out->len, out->buf);
if(needeol){
int g = write(mntfd, "\r", 1); // add EOL
(void) g;
@ -563,8 +531,9 @@ static int wr(const data_t *out, data_t *in, int needeol){
if(b < 0) break; // nothing to read -> go out
in->buf[in->len++] = (uint8_t) b;
}
DBG("got %zd bytes", in->len);
//DBG("Clear trashing input");
while(getmntbyte() > -1);
//while(getmntbyte() > -1);
return TRUE;
}
@ -575,6 +544,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
* @return FALSE if failed
*/
int MountWriteRead(const data_t *out, data_t *in){
if(Conf.RunModel) return -1;
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 1);
pthread_mutex_unlock(&mntmutex);
@ -582,6 +552,7 @@ int MountWriteRead(const data_t *out, data_t *in){
}
// send binary data - without EOL
int MountWriteReadRaw(const data_t *out, data_t *in){
if(Conf.RunModel) return -1;
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 0);
pthread_mutex_unlock(&mntmutex);
@ -605,6 +576,7 @@ static void loglcmd(SSlcmd *c){
// send short/long binary command; return FALSE if failed
static int bincmd(uint8_t *cmd, int len){
if(Conf.RunModel) return FALSE;
static data_t *dscmd = NULL, *dlcmd = NULL;
if(!dscmd) dscmd = cmd2dat(CMD_SHORTCMD);
if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
@ -641,6 +613,7 @@ rtn:
return ret;
}
// short, long and config text-binary commands
// return TRUE if OK
int cmdS(SSscmd *cmd){
return bincmd((uint8_t *)cmd, sizeof(SSscmd));
@ -650,6 +623,7 @@ int cmdL(SSlcmd *cmd){
}
// rw == 1 to write, 0 to read
int cmdC(SSconfig *conf, int rw){
if(Conf.RunModel) return FALSE;
static data_t *wcmd = NULL, *rcmd = NULL;
int ret = FALSE;
// dummy buffer to clear trash in input

1
LibSidServo/serial.h
View File

@ -28,7 +28,6 @@
// max error counter (when read() returns -1)
#define MAX_ERR_CTR (100)
double dtime();
data_t *cmd2dat(const char *cmd);
void data_free(data_t **x);
int openEncoder();

11
LibSidServo/sidservo.h
View File

@ -16,6 +16,11 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* This file contains all need for external usage
*/
#pragma once
#ifdef __cplusplus
@ -30,6 +35,10 @@ extern "C"
// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
#define MCC_MAX_X_SPEED (0.174533)
#define MCC_MAX_Y_SPEED (0.139626)
// accelerations by both axis (for model); TODO: move speeds/accelerations into config?
// xa=12.6 deg/s^2, ya= 9.5 deg/s^2
#define MCC_X_ACCELERATION (0.219911)
#define MCC_Y_ACCELERATION (0.165806)
// max speed interval, seconds
#define MCC_CONF_MAX_SPEEDINT (2.)
@ -57,6 +66,7 @@ typedef struct{
double MountReqInterval; // interval between subsequent mount requests (seconds)
double EncoderReqInterval; // interval between subsequent encoder requests (seconds)
double EncoderSpeedInterval;// interval between speed calculations
int RunModel; // == 1 if you want to use model instead of real mount
} conf_t;
// coordinates/speeds in degrees or d/s: X, Y
@ -224,7 +234,6 @@ typedef struct{
extern mount_t Mount;
#ifdef __cplusplus
}
#endif

28
LibSidServo/ssii.c
View File

@ -19,8 +19,9 @@
#include <ctype.h>
#include <inttypes.h>
#include <string.h>
#include <unistd.h>
#include "dbg.h"
#include "main.h"
#include "serial.h"
#include "ssii.h"
@ -65,13 +66,6 @@ static void ChkStopped(const SSstat *s, mountdata_t *m){
*/
void SSconvstat(const SSstat *s, mountdata_t *m, double t){
if(!s || !m) return;
/*
#ifdef EBUG
static double t0 = -1.;
if(t0 < 0.) t0 = dtime();
#endif
DBG("Convert, t=%g", dtime()-t0);
*/
m->motXposition.val = X_MOT2RAD(s->Xmot);
m->motYposition.val = Y_MOT2RAD(s->Ymot);
ChkStopped(s, m);
@ -82,9 +76,6 @@ void SSconvstat(const SSstat *s, mountdata_t *m, double t){
m->encYposition.val = Y_ENC2RAD(s->Yenc);
m->encXposition.t = m->encYposition.t = t;
}
//m->lastmotposition.X = X_MOT2RAD(s->XLast);
//m->lastmotposition.Y = Y_MOT2RAD(s->YLast);
//m->lastmotposition.msrtime = *tdat;
m->keypad = s->keypad;
m->extradata.ExtraBits = s->ExtraBits;
m->extradata.ain0 = s->ain0;
@ -170,7 +161,9 @@ int SSstop(int emerg){
const char *cmdx = (emerg) ? CMD_EMSTOPX : CMD_STOPX;
const char *cmdy = (emerg) ? CMD_EMSTOPY : CMD_STOPY;
for(; i < 10; ++i){
DBG("t1: %g", nanotime());
if(!SStextcmd(cmdx, NULL)) continue;
DBG("t2: %g", nanotime());
if(SStextcmd(cmdy, NULL)) break;
}
if(i == 10) return FALSE;
@ -180,12 +173,19 @@ int SSstop(int emerg){
// update motors' positions due to encoders'
mcc_errcodes_t updateMotorPos(){
mountdata_t md = {0};
double t0 = dtime(), t = 0.;
double t0 = nanotime(), t = 0.;
DBG("start @ %g", t0);
do{
t = dtime();
t = nanotime();
if(MCC_E_OK == getMD(&md)){
DBG("got");
if(md.encXposition.t == 0 || md.encYposition.t == 0){
DBG("Just started, t-t0 = %g!", t - t0);
sleep(1);
DBG("t-t0 = %g", nanotime() - t0);
//usleep(10000);
continue;
}
DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
if(fabs(md.encXposition.t - t) < 0.1 && fabs(md.encYposition.t - t) < 0.1){
DBG("FIX motors position to encoders");
int32_t Xpos = X_RAD2MOT(md.encXposition.val), Ypos = Y_RAD2MOT(md.encYposition.val);

42
LibSidServo/ssii.h
View File

@ -16,6 +16,10 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* This file contains stuff for sidereal-servo specific protocol
*/
#pragma once
#include <math.h>
@ -171,16 +175,30 @@
// amount of consequent same coordinates to detect stop
#define MOTOR_STOPPED_CNT (20)
// TODO: take it from settings?
// steps per revolution (SSI - x4 - for SSI)
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV_SSI (13312000.)
//#define X_MOT_STEPSPERREV (3325952.)
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV (3328000.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV_SSI (17578668.)
//#define Y_MOT_STEPSPERREV (4394960.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV (4394667.)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (61245239)
#define Y_ENC_ZERO (36999830)
// encoder reversed (no: +1)
#define X_ENC_SIGN (-1.)
#define Y_ENC_SIGN (-1.)
// encoder position to radians and back
#define X_ENC2RAD(n) ang2half(X_ENC_SIGN * 2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)(n-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
// convert angle in radians to +-pi
static inline double ang2half(double ang){
if(ang < -M_PI) ang += 2.*M_PI;
@ -214,21 +232,6 @@ static inline double ang2full(double ang){
#define ADDER2S(a) ((a) / SITECH_LOOP_FREQUENCY)
#define S2ADDER(s) ((s) * SITECH_LOOP_FREQUENCY)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (61245239)
#define Y_ENC_ZERO (36999830)
// encoder reversed (no: +1)
#define X_ENC_SIGN (-1.)
#define Y_ENC_SIGN (-1.)
// encoder position to radians and back
#define X_ENC2RAD(n) ang2half(X_ENC_SIGN * 2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)(n-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
// encoder's tolerance (ticks)
#define YencTOL (25.)
#define XencTOL (25.)
@ -334,5 +337,4 @@ int SSrawcmd(const char *cmd, data_t *answer);
int SSgetint(const char *cmd, int64_t *ans);
int SSsetterI(const char *cmd, int32_t ival);
int SSstop(int emerg);
int SSshortCmd(SSscmd *cmd);
mcc_errcodes_t updateMotorPos();