eddy/mountcontrol
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PID seems like almost working, but I have a great problem with model!

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This commit is contained in:
Edward V. Emelianov
2025-08-05 18:55:21 +03:00
parent 864e257884
commit 138e4bf84d
16 changed files with 218 additions and 105 deletions
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27
LibSidServo/main.c
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@@ -86,7 +86,6 @@ void getModData(mountdata_t *mountdata){
if(Xst == ST_MOVE) Xst = Xmodel->proc_move(Xmodel, &Xp, tnow);
movestate_t Yst = Ymodel->get_state(Ymodel, &Yp);
if(Yst == ST_MOVE) Yst = Ymodel->proc_move(Ymodel, &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;
@@ -210,6 +209,22 @@ static int chkYs(double s){
return TRUE;
}
// set SLEWING state if axis was stopped later
static void setslewingstate(){
//FNAME();
mountdata_t d;
if(MCC_E_OK == getMD(&d)){
axis_status_t newx = d.Xstate, newy = d.Ystate;
//DBG("old state: %d/%d", d.Xstate, d.Ystate);
if(d.Xstate == AXIS_STOPPED) newx = AXIS_SLEWING;
if(d.Ystate == AXIS_STOPPED) newy = AXIS_SLEWING;
if(newx != d.Xstate || newy != d.Ystate){
DBG("Started moving -> slew");
setStat(newx, newy);
}
}else DBG("CAN't GET MOUNT DATA!");
}
/*
static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
(void)target;
@@ -241,7 +256,7 @@ static mcc_errcodes_t move2(const coordpair_t *target){
cmd.Yspeed = MCC_MAX_Y_SPEED;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setStat(AXIS_SLEWING, AXIS_SLEWING);
setslewingstate();
return MCC_E_OK;
}
@@ -279,7 +294,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
cmd.Yspeed = speed->Y;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setStat(AXIS_SLEWING, AXIS_SLEWING);
setslewingstate();
return MCC_E_OK;
}
@@ -288,6 +303,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
* @return errcode
*/
static mcc_errcodes_t emstop(){
FNAME();
if(Conf.RunModel){
double curt = nanotime();
Xmodel->emergency_stop(Xmodel, curt);
@@ -299,6 +315,7 @@ static mcc_errcodes_t emstop(){
}
// normal stop
static mcc_errcodes_t stop(){
FNAME();
if(Conf.RunModel){
double curt = nanotime();
Xmodel->stop(Xmodel, curt);
@@ -323,6 +340,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
param.coord = cmd->Ymot; param.speed = cmd->Yspeed;
if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
setslewingstate();
return MCC_E_OK;
}
SSscmd s = {0};
@@ -336,6 +354,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
s.YBits = cmd->YBits;
DBG("X->%d, Y->%d, Xs->%d, Ys->%d", s.Xmot, s.Ymot, s.Xspeed, s.Yspeed);
if(!cmdS(&s)) return MCC_E_FAILED;
setslewingstate();
return MCC_E_OK;
}
@@ -353,6 +372,7 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
param.coord = cmd->Ymot; param.speed = cmd->Yspeed;
if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
setslewingstate();
return MCC_E_OK;
}
SSlcmd l = {0};
@@ -365,6 +385,7 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
l.Xatime = S2ADDER(cmd->Xatime);
l.Yatime = S2ADDER(cmd->Yatime);
if(!cmdL(&l)) return MCC_E_FAILED;
setslewingstate();
return MCC_E_OK;
}