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change time from double to struct timespec

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This commit is contained in:
Edward Emelianov 2025-12-08 13:31:23 +03:00
parent acd26edc9c
commit 196ed3be1b
15 changed files with 189 additions and 190 deletions
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25
LibSidServo/PID.c
View File

@ -84,8 +84,9 @@ typedef struct{
* @return calculated new speed or -1 for max speed
*/
static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > Conf.PIDMaxDt){
DBG("target time: %g, axis time: %g - too big! (tag-ax=%g)", tagpos->t, axis->position.t, tagpos->t - axis->position.t);
double dt = timediff(&tagpos->t, &axis->position.t);
if(dt < 0 || dt > Conf.PIDMaxDt){
DBG("target time: %ld, axis time: %ld - too big! (tag-ax=%g)", tagpos->t.tv_sec, axis->position.t.tv_sec, dt);
return axis->speed.val; // data is too old or wrong
}
double error = tagpos->val - axis->position.val, fe = fabs(error);
@ -125,9 +126,9 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
}else DBG("Current error: %g", fe);
break;
case AXIS_STOPPED: // start pointing to target; will change speed next time
DBG("AXIS STOPPED!!!!");
DBG("AXIS STOPPED!!!! --> Slewing");
axis->state = AXIS_SLEWING;
return NAN;
return getspeed(tagpos, pidpair, axis);
case AXIS_ERROR:
DBG("Can't move from erroneous state");
return 0.;
@ -136,16 +137,16 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
DBG("WTF? Where is a PID?");
return axis->speed.val;
}
if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > Conf.PIDMaxDt){
double dtpid = timediff(&tagpos->t, &pid->prevT);
if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
DBG("time diff too big: clear PID");
pid_clear(pid);
}
double dt = tagpos->t - pid->prevT;
if(dt > Conf.PIDMaxDt) dt = Conf.PIDCycleDt;
if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
pid->prevT = tagpos->t;
DBG("CALC PID (er=%g, dt=%g), state=%d", error, dt, axis->state);
double tagspeed = pid_calculate(pid, error, dt);
if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dt; // velocity-based
DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
double tagspeed = pid_calculate(pid, error, dtpid);
if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
return tagspeed; // coordinate-based
}
@ -214,7 +215,7 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
adder = dv/Ylimits.max.accel * (m.encYspeed.val + dv / 2.)
+ Conf.PIDMaxDt * tagspeed.Y
+ tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
endpoint.Y = m.encYposition.val + Ysign * tagspeed.Y / Ylimits.max.accel;
DBG("TAG speeds: %g/%g; TAG pos: %g/%g", tagspeed.X, tagspeed.Y, endpoint.X, endpoint.Y);
endpoint.Y = m.encYposition.val + Ysign * adder;
DBG("TAG speeds: %g/%g (deg/s); TAG pos: %g/%g (deg)", tagspeed.X/M_PI*180., tagspeed.Y/M_PI*180., endpoint.X/M_PI*180., endpoint.Y/M_PI*180.);
return Mount.moveWspeed(&endpoint, &tagspeed);
}

2
LibSidServo/PID.h
View File

@ -27,7 +27,7 @@ typedef struct {
double prev_error; // Previous error
double integral; // Integral term
double *pidIarray; // array for Integral
double prevT; // time of previous correction
struct timespec prevT; // time of previous correction
size_t pidIarrSize; // it's size
size_t curIidx; // and index of current element
} PIDController_t;

33
LibSidServo/examples/dump.c
View File

@ -24,7 +24,7 @@
#include "simpleconv.h"
// starting dump time (to conform different logs)
static double dumpT0 = -1.;
static struct timespec dumpT0 = {0};
#if 0
// amount of elements used for encoders' data filtering
@ -63,7 +63,9 @@ static double filter(double val, int idx){
#endif
// return starting time of dump
double dumpt0(){ return dumpT0; }
void dumpt0(struct timespec *t){
if(t) *t = dumpT0;
}
/**
@ -77,10 +79,10 @@ void logmnt(FILE *fcoords, mountdata_t *m){
if(!m){ // write header
fprintf(fcoords, " time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) VX(d/s) VY(d/s) millis\n");
return;
}else if(dumpT0 < 0.) dumpT0 = m->encXposition.t;
}else if(dumpT0.tv_sec == 0) dumpT0 = m->encXposition.t;
// write data
fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
m->encXposition.t - dumpT0, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
m->millis);
@ -106,16 +108,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
LOGWARN("Can't get mount data");
}
uint32_t mdmillis = mdata.millis;
double enct = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
struct timespec encXt = mdata.encXposition.t;
int ctr = -1;
double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
double t0 = Mount.currentT();
while(Mount.currentT() - t0 < t && ctr < N){
double t0 = Mount.timeFromStart();
while(Mount.timeFromStart() - t0 < t && ctr < N){
usleep(1000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
if(tmsr == enct) continue;
enct = tmsr;
//double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
struct timespec msrt = mdata.encXposition.t;
if(msrt.tv_nsec == encXt.tv_nsec) continue;
encXt = msrt;
if(fcoords) logmnt(fcoords, &mdata);
if(mdata.millis == mdmillis) continue;
//DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
@ -126,7 +129,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
ctr = 0;
}else ++ctr;
}
DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
}
/**
@ -146,14 +149,6 @@ void waitmoving(int N){
millis = mdata.millis;
if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
else ++ctr;
/*
if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
xlast = mdata.motXposition.val;
ylast = mdata.motYposition.val;
//DBG("x/y: %g/%g", RAD2DEG(xlast), RAD2DEG(ylast));
ctr = 0;
}else ++ctr;
*/
}
}

2
LibSidServo/examples/dump.h
View File

@ -27,4 +27,4 @@ void dumpmoving(FILE *fcoords, double t, int N);
void waitmoving(int N);
int getPos(coordval_pair_t *mot, coordval_pair_t *enc);
void chk0(int ncycles);
double dumpt0();
void dumpt0(struct timespec *t);

12
LibSidServo/examples/dumpswing.c
View File

@ -83,7 +83,7 @@ void waithalf(double t){
uint32_t millis = 0;
double xlast = 0., ylast = 0.;
while(ctr < 5){
if(Mount.currentT() >= t) return;
if(Mount.timeFromStart() >= t) return;
usleep(1000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
if(mdata.millis == millis) continue;
@ -158,24 +158,24 @@ int main(int argc, char **argv){
}else{
tagX = 0.; tagY = DEG2RAD(G.amplitude);
}
double t = Mount.currentT(), t0 = t;
double t = Mount.timeFromStart(), t0 = t;
coordpair_t tag = {.X = tagX, .Y = tagY}, rtag = {.X = -tagX, .Y = -tagY};
double divide = 2.;
for(int i = 0; i < G.Nswings; ++i){
Mount.moveTo(&tag);
DBG("CMD: %g", Mount.currentT()-t0);
DBG("CMD: %g", Mount.timeFromStart()-t0);
t += G.period / divide;
divide = 1.;
waithalf(t);
DBG("Moved to +, t=%g", t-t0);
DBG("CMD: %g", Mount.currentT()-t0);
DBG("CMD: %g", Mount.timeFromStart()-t0);
Mount.moveTo(&rtag);
t += G.period;
waithalf(t);
DBG("Moved to -, t=%g", t-t0);
DBG("CMD: %g", Mount.currentT()-t0);
DBG("CMD: %g", Mount.timeFromStart()-t0);
}
green("Move to zero @ %g\n", Mount.currentT());
green("Move to zero @ %g\n", Mount.timeFromStart());
tag = (coordpair_t){0};
// be sure to move @ 0,0
if(MCC_E_OK != Mount.moveTo(&tag)){

3
LibSidServo/examples/goto.c
View File

@ -91,8 +91,7 @@ int main(int _U_ argc, char _U_ **argv){
if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
coordval_pair_t M, E;
if(!getPos(&M, &E)) ERRX("Can't get current position");
printf("Current time: %.10f\n", Mount.currentT());
DBG("xt: %g, x: %g", M.X.t, M.X.val);
printf("Current time: %.10f\n", Mount.timeFromStart());
if(G.coordsoutput){
if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
G.wait = 1;

25
LibSidServo/examples/scmd_traectory.c
View File

@ -98,31 +98,34 @@ static void runtraectory(traectory_fn tfn){
coordval_pair_t telXY;
coordval_pair_t target;
coordpair_t traectXY;
double t0 = dumpt0(), tlast = 0., tstart = Mount.currentT();
double tlastX = 0., tlastY = 0.;
double tlast = 0., tstart = Mount.timeFromStart();
long tlastXnsec = 0, tlastYnsec = 0;
struct timespec tcur, t0 = {0};
dumpt0(&t0);
while(1){
if(!telpos(&telXY)){
WARNX("No next telescope position");
return;
}
if(telXY.X.t == tlastX && telXY.Y.t == tlastY) continue; // last measure - don't mind
DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f) measured @ %.6f/%.6f", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val), telXY.X.t, telXY.Y.t);
tlastX = telXY.X.t; tlastY = telXY.Y.t;
double t = Mount.currentT();
if(!Mount.currentT(&tcur)) continue;
if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
double t = Mount.timeFromStart();
if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
if(!traectory_point(&traectXY, t)) break;
target.X.val = traectXY.X; target.Y.val = traectXY.Y;
target.X.t = target.Y.t = t;
if(t0 < 0.) t0 = dumpt0();
target.X.t = target.Y.t = tcur;
if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
else{
//DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
//DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
if(errlog)
fprintf(errlog, "%10.4f %10.4f %10.4f\n", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
fprintf(errlog, "%10.4f %10.4f %10.4f\n", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
}
if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
while((t = Mount.currentT()) - tlast < Config->PIDRefreshDt) usleep(500);
while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
tlast = t;
}
WARNX("No next traectory point or emulation ends");

2
LibSidServo/examples/traectories.c
View File

@ -41,7 +41,7 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
if(!f || !XY0) return FALSE;
cur_traectory = f;
XYstart = *XY0;
tstart = Mount.currentT();
tstart = Mount.timeFromStart();
mountdata_t mdata;
int ntries = 0;
for(; ntries < 10; ++ntries){

84
LibSidServo/main.c
View File

@ -32,6 +32,11 @@
#include "ssii.h"
#include "PID.h"
// adder for monotonic time by realtime: inited any call of init()
static struct timespec timeadder = {0}, // adder of CLOCK_REALTIME to CLOCK_MONOTONIC
t0 = {0}, // curtime() for initstarttime() call
starttime = {0}; // starting time by monotonic (for timefromstart())
conf_t Conf = {0};
// parameters for model
static movemodel_t *Xmodel, *Ymodel;
@ -50,26 +55,57 @@ limits_t
static mcc_errcodes_t shortcmd(short_command_t *cmd);
/**
* @brief nanotime - monotonic time from first run
* @return struct timespec by CLOCK_MONOTONIC but with setpoint by CLOCK_REALTIME on observations start
* @brief curtime - monotonic time from first run
* @param t - struct timespec by CLOCK_MONOTONIC but with setpoint by CLOCK_REALTIME on observations start
* @return TRUE if all OK
* FIXME: double -> struct timespec; on init: init t0 by CLOCK_REALTIME
*/
double nanotime(){
static double t0 = -1.;
int curtime(struct timespec *t){
struct timespec now;
if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
now.tv_sec += timeadder.tv_sec;
now.tv_nsec += timeadder.tv_nsec;
if(now.tv_nsec > 999999999L){
++now.tv_sec;
now.tv_nsec -= 1000000000L;
}
if(t) *t = now;
return TRUE;
}
// init starttime; @return TRUE if all OK
static int initstarttime(){
struct timespec start;
if(clock_gettime(CLOCK_MONOTONIC, &starttime)) return FALSE;
if(clock_gettime(CLOCK_REALTIME, &start)) return FALSE;
timeadder.tv_sec = start.tv_sec - starttime.tv_sec;
timeadder.tv_nsec = start.tv_nsec - starttime.tv_nsec;
if(timeadder.tv_nsec < 0){
--timeadder.tv_sec;
timeadder.tv_nsec += 1000000000L;
}
curtime(&t0);
return TRUE;
}
// return difference (in seconds) between time1 and time0
double timediff(const struct timespec *time1, const struct timespec *time0){
if(!time1 || !time0) return -1.;
return (time1->tv_sec - time0->tv_sec) + (time1->tv_nsec - time0->tv_nsec) / 1e9;
}
// difference between given time and last initstarttime() call
double timediff0(const struct timespec *time1){
return timediff(time1, &t0);
}
// time from last initstarttime() call
double timefromstart(){
struct timespec now;
if(clock_gettime(CLOCK_MONOTONIC, &now)) return -1.;
if(t0 < 0.){
struct timespec start;
if(clock_gettime(CLOCK_REALTIME, &start)) return -1.;
t0 = (double)start.tv_sec + (double)start.tv_nsec * 1e-9
- (double)now.tv_sec - (double)now.tv_nsec * 1e-9;
}
DBG("ASK nanotime: %g", (double)now.tv_sec + (double)now.tv_nsec * 1e-9 + t0);
return (double)now.tv_sec + (double)now.tv_nsec * 1e-9 + t0;
return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
}
/**
* @brief quit - close all opened and return to default state
* TODO: close serial devices even in "model" mode
*/
static void quit(){
if(Conf.RunModel) return;
@ -79,18 +115,17 @@ static void quit(){
DBG("Exit");
}
void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst){
void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
if(!c || !Xmodel || !Ymodel) return;
double tnow = nanotime();
double tnow = timefromstart();
moveparam_t Xp, Yp;
movestate_t Xst = Xmodel->get_state(Xmodel, &Xp);
//DBG("Xstate = %d", Xst);
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);
c->X.t = c->Y.t = tnow;
c->X.val = Xp.coord;
c->Y.val = Yp.coord;
c->X = Xp.coord;
c->Y = Yp.coord;
if(xst) *xst = Xst;
if(yst) *yst = Yst;
}
@ -149,6 +184,7 @@ double LS_calc_slope(less_square_t *l, double x, double t){
static mcc_errcodes_t init(conf_t *c){
FNAME();
if(!c) return MCC_E_BADFORMAT;
if(!initstarttime()) return MCC_E_FAILED;
Conf = *c;
mcc_errcodes_t ret = MCC_E_OK;
Xmodel = model_init(&Xlimits);
@ -303,7 +339,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
static mcc_errcodes_t emstop(){
FNAME();
if(Conf.RunModel){
double curt = nanotime();
double curt = timefromstart();
Xmodel->emergency_stop(Xmodel, curt);
Ymodel->emergency_stop(Ymodel, curt);
return MCC_E_OK;
@ -315,7 +351,7 @@ static mcc_errcodes_t emstop(){
static mcc_errcodes_t stop(){
FNAME();
if(Conf.RunModel){
double curt = nanotime();
double curt = timefromstart();
Xmodel->stop(Xmodel, curt);
Ymodel->stop(Ymodel,curt);
return MCC_E_OK;
@ -332,7 +368,7 @@ static mcc_errcodes_t stop(){
static mcc_errcodes_t shortcmd(short_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
if(Conf.RunModel){
double curt = nanotime();
double curt = timefromstart();
moveparam_t param = {0};
param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@ -364,7 +400,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
static mcc_errcodes_t longcmd(long_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
if(Conf.RunModel){
double curt = nanotime();
double curt = timefromstart();
moveparam_t param = {0};
param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@ -534,7 +570,6 @@ mount_t Mount = {
.init = init,
.quit = quit,
.getMountData = getMD,
// .slewTo = slew2,
.moveTo = move2,
.moveWspeed = move2s,
.setSpeed = setspeed,
@ -544,7 +579,10 @@ mount_t Mount = {
.longCmd = longcmd,
.getHWconfig = get_hwconf,
.saveHWconfig = write_hwconf,
.currentT = nanotime,
.currentT = curtime,
.timeFromStart = timefromstart,
.timeDiff = timediff,
.timeDiff0 = timediff0,
.correctTo = correct2,
.getMaxSpeed = maxspeed,
.getMinSpeed = minspeed,

7
LibSidServo/main.h
View File

@ -29,8 +29,11 @@
extern conf_t Conf;
extern limits_t Xlimits, Ylimits;
double nanotime();
void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst);
int curtime(struct timespec *t);
double timediff(const struct timespec *time1, const struct timespec *time0);
double timediff0(const struct timespec *time1);
double timefromstart();
void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst);
typedef struct{
double *x, *t, *t2, *xt; // arrays of coord/time and multiply
double xsum, tsum, t2sum, xtsum; // sums of coord/time and their multiply

2
LibSidServo/movingmodel.c
View File

@ -60,7 +60,7 @@ movemodel_t *model_init(limits_t *l){
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);
DBG("MOVE to %g (deg) at speed %g (deg/s)", target->coord/M_PI*180., target->speed/M_PI*180.);
// only positive velocity
if(target->speed < 0.) target->speed = -target->speed;
if(fabs(target->speed) < model->Min.speed){

143
LibSidServo/serial.c
View File

@ -59,49 +59,35 @@ typedef struct __attribute__((packed)){
// calculate current X/Y speeds
void getXspeed(){
static double t0 = -1.; // time of start - eliminate problem of very large times in squares
if(t0 < 0.) t0 = mountdata.encXposition.t;
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t - t0);
double dt = timediff0(&mountdata.encXposition.t);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
if(fabs(speed) < 1.5 * Xlimits.max.speed){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
pthread_mutex_unlock(&datamutex);
//DBG("Xspeed=%g", mountdata.encXspeed.val);
#if 0
mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
mountdata.encXspeed.t = (lastXenc.t + mountdata.encXposition.t) / 2.;
lastXenc.val = mountdata.encXposition.val;
lastXenc.t = t;
#endif
}
void getYspeed(){
static double t0 = -1.; // time of start - eliminate problem of very large times in squares
if(t0 < 0.) t0 = mountdata.encXposition.t;
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t - t0);
double dt = timediff0(&mountdata.encYposition.t);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
if(fabs(speed) < 1.5 * Ylimits.max.speed){
mountdata.encYspeed.val = speed;
mountdata.encYspeed.t = mountdata.encYposition.t;
}
pthread_mutex_unlock(&datamutex);
#if 0
mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
mountdata.encYspeed.t = (lastYenc.t + mountdata.encYposition.t) / 2.;
lastYenc.val = mountdata.encYposition.val;
lastYenc.t = t;
#endif
}
/**
@ -109,7 +95,8 @@ void getYspeed(){
* @param databuf - input buffer with 13 bytes of data
* @param t - time when databuf[0] got
*/
static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
if(!t) return;
enc_t *edata = (enc_t*) databuf;
/*
#ifdef EBUG
@ -147,8 +134,8 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
mountdata.encXposition.val = X_ENC2RAD(edata->encX);
mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
mountdata.encXposition.t = t;
mountdata.encYposition.t = t;
mountdata.encXposition.t = *t;
mountdata.encYposition.t = *t;
pthread_mutex_unlock(&datamutex);
//if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
//if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
@ -163,11 +150,11 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
* @param t - measurement time
* @return amount of data read or 0 if problem
*/
static int getencval(int fd, double *val, double *t){
static int getencval(int fd, double *val, struct timespec *t){
if(fd < 0) return FALSE;
char buf[128];
int got = 0, Lmax = 127;
double t0 = nanotime();
double t0 = timefromstart();
do{
fd_set rfds;
FD_ZERO(&rfds);
@ -186,7 +173,7 @@ static int getencval(int fd, double *val, double *t){
buf[got] = 0;
} else continue;
if(strchr(buf, '\n')) break;
}while(Lmax && nanotime() - t0 < Conf.EncoderReqInterval);
}while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval);
if(got == 0) return 0; // WTF?
char *estr = strrchr(buf, '\n');
if(!estr) return 0;
@ -201,7 +188,7 @@ static int getencval(int fd, double *val, double *t){
return 0; // wrong number
}
if(val) *val = (double) data;
if(t) *t = t0;
if(t){ if(!curtime(t)) return 0; }
return got;
}
// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
@ -265,8 +252,6 @@ static void clrmntbuf(){
if(mntfd < 0) return;
uint8_t byte;
fd_set rfds;
//double t0 = nanotime();
//int n = 0;
do{
FD_ZERO(&rfds);
FD_SET(mntfd, &rfds);
@ -280,10 +265,8 @@ static void clrmntbuf(){
if(FD_ISSET(mntfd, &rfds)){
ssize_t l = read(mntfd, &byte, 1);
if(l != 1) break;
//++n;
} else break;
}while(1);
//DBG("Cleared by %g (got %d bytes)", nanotime() - t0, n);
}
// main encoder thread (for separate encoder): read next data and make parsing
@ -291,7 +274,7 @@ static void *encoderthread1(void _U_ *u){
if(Conf.SepEncoder != 1) return NULL;
uint8_t databuf[ENC_DATALEN];
int wridx = 0, errctr = 0;
double t = 0.;
struct timespec tcur;
while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
int b = getencbyte();
if(b == -2) ++errctr;
@ -302,15 +285,16 @@ static void *encoderthread1(void _U_ *u){
if((uint8_t)b == ENC_MAGICK){
// DBG("Got magic -> start filling packet");
databuf[wridx++] = (uint8_t) b;
t = nanotime();
}
continue;
}else databuf[wridx++] = (uint8_t) b;
if(wridx == ENC_DATALEN){
parse_encbuf(databuf, t);
if(curtime(&tcur)){
parse_encbuf(databuf, &tcur);
wridx = 0;
}
}
}
if(encfd[0] > -1){
close(encfd[0]);
encfd[0] = -1;
@ -323,30 +307,28 @@ static void *encoderthread2(void _U_ *u){
if(Conf.SepEncoder != 2) return NULL;
DBG("Thread started");
int errctr = 0;
double t0 = nanotime();
double t0 = timefromstart();
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){
struct timespec t;
if(!curtime(&t)) continue;
if(need2ask){
if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
}
double v, t;
double v;
if(getencval(encfd[0], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encXposition.val = X_ENC2RAD(v);
//DBG("encX(%g) = %g", t, mountdata.encXposition.val);
mountdata.encXposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
getXspeed();
if(getencval(encfd[1], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encYposition.val = Y_ENC2RAD(v);
//DBG("encY(%g) = %g", t, mountdata.encYposition.val);
mountdata.encYposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
getYspeed();
errctr = 0;
need2ask = 0;
@ -360,9 +342,8 @@ static void *encoderthread2(void _U_ *u){
else need2ask = 1;
continue;
}
while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
//DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
t0 = nanotime();
while(timefromstart() - t0 < Conf.EncoderReqInterval){ usleep(50); }
t0 = timefromstart();
}
DBG("ERRCTR=%d", errctr);
for(int i = 0; i < 2; ++i){
@ -391,13 +372,14 @@ void data_free(data_t **x){
}
static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t *stat){
if(!prev || !nstopped || !stat) return;
if(isnan(*prev)){
*stat = AXIS_STOPPED;
DBG("START");
}else if(*stat != AXIS_STOPPED){
if(fabs(*prev - cur) < DBL_EPSILON && ++(*nstopped) > MOTOR_STOPPED_CNT){
*stat = AXIS_STOPPED;
DBG("AXIS stopped");
DBG("AXIS stopped; prev=%g, cur=%g; nstopped=%d", *prev/M_PI*180., cur/M_PI*180., *nstopped);
}
}else if(*prev != cur){
DBG("AXIS moving");
@ -412,42 +394,43 @@ static void *mountthread(void _U_ *u){
uint8_t buf[2*sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
bzero(&mountdata, sizeof(mountdata));
double t0 = nanotime(), tstart = t0;
static double oldmt = -100.; // old `millis measurement` time
double t0 = timefromstart(), tstart = t0, tcur = t0;
double oldmt = -100.; // old `millis measurement` time
static uint32_t oldmillis = 0;
if(Conf.RunModel){
double Xprev = NAN, Yprev = NAN; // previous coordinates
int xcnt = 0, ycnt = 0;
while(1){
coordval_pair_t c;
coordpair_t c;
movestate_t xst, yst;
// now change data
getModData(&c, &xst, &yst);
struct timespec tnow;
if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
pthread_mutex_lock(&datamutex);
double tnow = c.X.t;
mountdata.encXposition.t = mountdata.encYposition.t = tnow;
mountdata.encXposition.val = c.X.val;
mountdata.encYposition.val = c.Y.val;
mountdata.encXposition.val = c.X;
mountdata.encYposition.val = c.Y;
//DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
if(tnow - oldmt > Conf.MountReqInterval){
oldmillis = mountdata.millis = (uint32_t)((tnow - tstart) * 1e3);
if(tcur - oldmt > Conf.MountReqInterval){
oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
mountdata.motYposition.t = mountdata.motXposition.t = tnow;
if(xst == ST_MOVE)
mountdata.motXposition.val = c.X.val + (c.X.val - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motXposition.val = c.X.val;
mountdata.motXposition.val = c.X;
if(yst == ST_MOVE)
mountdata.motYposition.val = c.Y.val + (c.Y.val - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motYposition.val = c.Y.val;
oldmt = tnow;
mountdata.motYposition.val = c.Y;
oldmt = tcur;
}else mountdata.millis = oldmillis;
chkModStopped(&Xprev, c.X.val, &xcnt, &mountdata.Xstate);
chkModStopped(&Yprev, c.Y.val, &ycnt, &mountdata.Ystate);
chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
pthread_mutex_unlock(&datamutex);
getXspeed(); getYspeed();
while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
t0 = nanotime();
while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
t0 = timefromstart();
}
}
// data to get
@ -457,31 +440,8 @@ static void *mountthread(void _U_ *u){
if(!cmd_getstat) goto failed;
while(mntfd > -1 && errctr < MAX_ERR_CTR){
// read data to status
double t0 = nanotime();
#if 0
// 127 milliseconds to get answer on X/Y commands!!!
int64_t ans;
int ctr = 0;
if(SSgetint(CMD_MOTX, &ans)){
pthread_mutex_lock(&datamutex);
mountdata.motXposition.t = tgot;
mountdata.motXposition.val = X_MOT2RAD(ans);
pthread_mutex_unlock(&datamutex);
++ctr;
}
tgot = nanotime();
if(SSgetint(CMD_MOTY, &ans)){
pthread_mutex_lock(&datamutex);
mountdata.motXposition.t = tgot;
mountdata.motXposition.val = X_MOT2RAD(ans);
pthread_mutex_unlock(&datamutex);
++ctr;
}
if(ctr == 2){
mountdata.millis = (uint32_t)(1e3 * tgot);
DBG("Got both coords; millis=%d", mountdata.millis);
}
#endif
struct timespec tcur;
if(!curtime(&tcur)) continue;
// 80 milliseconds to get answer on GETSTAT
if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
#ifdef EBUG
@ -498,14 +458,13 @@ static void *mountthread(void _U_ *u){
errctr = 0;
pthread_mutex_lock(&datamutex);
// now change data
SSconvstat(status, &mountdata, t0);
SSconvstat(status, &mountdata, &tcur);
pthread_mutex_unlock(&datamutex);
//DBG("GOT FULL stat by %g", nanotime() - t0);
// allow writing & getters
do{
usleep(500);
}while(nanotime() - t0 < Conf.MountReqInterval);
t0 = nanotime();
}while(timefromstart() - t0 < Conf.MountReqInterval);
t0 = timefromstart();
}
data_free(&cmd_getstat);
failed:
@ -611,6 +570,7 @@ create_thread:
// close all opened serial devices and quit threads
void closeSerial(){
// TODO: close devices in "model" mode too!
if(Conf.RunModel) return;
if(mntfd > -1){
DBG("Cancel mount thread");
@ -660,30 +620,23 @@ static int wr(const data_t *out, data_t *in, int needeol){
return FALSE;
}
clrmntbuf();
//double t0 = nanotime();
if(out){
if(out->len != (size_t)write(mntfd, out->buf, out->len)){
DBG("written bytes not equal to need");
return FALSE;
}
//DBG("Send to mount %zd bytes: %s", out->len, out->buf);
if(needeol){
int g = write(mntfd, "\r", 1); // add EOL
(void) g;
}
}
//DBG("sent by %g", nanotime() - t0);
//uint8_t buf[256];
//data_t dumb = {.buf = buf, .maxlen = 256};
if(!in) return TRUE;
//if(!in) in = &dumb; // even if user don't ask for answer, try to read to clear trash
in->len = 0;
for(size_t i = 0; i < in->maxlen; ++i){
int b = getmntbyte();
if(b < 0) break; // nothing to read -> go out
in->buf[in->len++] = (uint8_t) b;
}
//DBG("got %zd bytes by %g", in->len, nanotime() - t0);
while(getmntbyte() > -1);
return TRUE;
}

5
LibSidServo/sidservo.h
View File

@ -239,7 +239,10 @@ typedef struct{
mcc_errcodes_t (*longCmd)(long_command_t *cmd); // send/get long command
mcc_errcodes_t (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
mcc_errcodes_t (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
double (*currentT)(); // current time
int (*currentT)(struct timespec *t); // current time
double (*timeFromStart)(); // amount of seconds from last init
double (*timeDiff)(const struct timespec *time1, const struct timespec *time0); // difference of times
double (*timeDiff0)(const struct timespec *time1); // difference between current time and last init time
mcc_errcodes_t (*getMaxSpeed)(coordpair_t *v); // maximal speed by both axis
mcc_errcodes_t (*getMinSpeed)(coordpair_t *v); // minimal -//-
mcc_errcodes_t (*getAcceleration)(coordpair_t *a); // acceleration/deceleration

28
LibSidServo/ssii.c
View File

@ -67,17 +67,17 @@ static void ChkStopped(const SSstat *s, mountdata_t *m){
* @param m (o) - output
* @param t - measurement time
*/
void SSconvstat(const SSstat *s, mountdata_t *m, double t){
if(!s || !m) return;
void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
if(!s || !m || !t) return;
m->motXposition.val = X_MOT2RAD(s->Xmot);
m->motYposition.val = Y_MOT2RAD(s->Ymot);
ChkStopped(s, m);
m->motXposition.t = m->motYposition.t = t;
m->motXposition.t = m->motYposition.t = *t;
// fill encoder data from here, as there's no separate enc thread
if(!Conf.SepEncoder){
m->encXposition.val = X_ENC2RAD(s->Xenc);
m->encYposition.val = Y_ENC2RAD(s->Yenc);
m->encXposition.t = m->encYposition.t = t;
m->encXposition.t = m->encYposition.t = *t;
getXspeed(); getYspeed();
}
m->keypad = s->keypad;
@ -176,33 +176,37 @@ int SSstop(int emerg){
mcc_errcodes_t updateMotorPos(){
mountdata_t md = {0};
if(Conf.RunModel) return MCC_E_OK;
double t0 = nanotime(), t = 0.;
double t0 = timefromstart(), t = 0.;
struct timespec curt;
DBG("start @ %g", t0);
do{
t = nanotime();
t = timefromstart();
if(!curtime(&curt)){
usleep(10000);
continue;
}
if(MCC_E_OK == getMD(&md)){
if(md.encXposition.t == 0 || md.encYposition.t == 0){
if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
DBG("Just started, t-t0 = %g!", t - t0);
DBG("t-t0 = %g", nanotime() - t0);
//usleep(10000);
usleep(10000);
continue;
}
if(md.Xstate != AXIS_STOPPED || md.Ystate != AXIS_STOPPED) return MCC_E_OK;
DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
DBG("got; t pos x/y: %ld/%ld; tnow: %ld", md.encXposition.t.tv_sec, md.encYposition.t.tv_sec, curt.tv_sec);
mcc_errcodes_t OK = MCC_E_OK;
if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
DBG("Xpos sync failed!");
OK = MCC_E_FAILED;
}else DBG("Xpos sync OK, Dt=%g", nanotime() - t0);
}else DBG("Xpos sync OK, Dt=%g", t - t0);
}
if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
DBG("Ypos sync failed!");
OK = MCC_E_FAILED;
}else DBG("Ypos sync OK, Dt=%g", nanotime() - t0);
}else DBG("Ypos sync OK, Dt=%g", t - t0);
}
if(MCC_E_OK == OK){
DBG("Encoders synced");

4
LibSidServo/ssii.h
View File

@ -173,7 +173,7 @@
#define SITECH_LOOP_FREQUENCY (1953.)
// amount of consequent same coordinates to detect stop
#define MOTOR_STOPPED_CNT (4)
#define MOTOR_STOPPED_CNT (19)
// TODO: take it from settings?
// steps per revolution (SSI - x4 - for SSI)
@ -331,7 +331,7 @@ typedef struct{
} __attribute__((packed)) SSconfig;
uint16_t SScalcChecksum(uint8_t *buf, int len);
void SSconvstat(const SSstat *status, mountdata_t *mountdata, double t);
void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timespec *t);
int SStextcmd(const char *cmd, data_t *answer);
int SSrawcmd(const char *cmd, data_t *answer);
int SSgetint(const char *cmd, int64_t *ans);