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This commit is contained in:
Edward Emelianov 2025-01-27 22:06:00 +03:00
parent 5f404a6291
commit 19f61697d6
19 changed files with 906 additions and 0 deletions
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87
LibSidServo/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.30)
set(PROJ sidservo)
set(MINOR_VERSION "1")
set(MID_VERSION "0")
set(MAJOR_VERSION "0")
set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
project(${PROJ} VERSION ${VERSION} LANGUAGES C)
# default flags
set(CMAKE_C_FLAGS "${CFLAGS} -O2")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS}")
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS} -Wextra -Wall -Werror -W")
set(CMAKE_COLOR_MAKEFILE ON)
option(DEBUG "Compile in debug mode" OFF)
option(EXAMPLES "Compile also some examples" ON)
# cmake -DDEBUG=on -> debugging
if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
if(DEBUG)
set(CMAKE_BUILD_TYPE "Debug")
else()
set(CMAKE_BUILD_TYPE "Release")
endif()
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Debug")
add_definitions(-DEBUG)
set(CMAKE_VERBOSE_MAKEFILE true)
if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
message("install to ${CMAKE_CURRENT_SOURCE_DIR}/install ")
set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_SOURCE_DIR}/install)
endif()
set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS_DEBUG})
else()
set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS_RELEASE})
endif()
message("Build type: ${CMAKE_BUILD_TYPE}, cflags: ${CMAKE_C_FLAGS}")
aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
###### pkgconfig ######
# pkg-config modules (for pkg-check-modules)
#set(MODULES cfitsio fftw3)
# find packages:
#find_package(PkgConfig REQUIRED)
#pkg_check_modules(${PROJ} REQUIRED ${MODULES})
###### additional flags ######
#list(APPEND ${PROJ}_LIBRARIES "-lfftw3_threads")
# library
add_library(${PROJ} SHARED ${SOURCES})
# library header files
set(LIBHEADER "sidservo.h")
# -I
include_directories(${${PROJ}_INCLUDE_DIRS})
# -L
link_directories(${${PROJ}_LIBRARY_DIRS})
# -D
add_definitions(
-DPACKAGE_VERSION=\"${VERSION}\" -DMINOR_VERSION=\"${MINOR_VERSION}\"
-DMID_VERSION=\"${MID_VERSION}\" -DMAJOR_VERSION=\"${MAJOR_VESION}\"
)
# -l
target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES})
set(PCFILE "${CMAKE_BINARY_DIR}/${PROJ}.pc")
configure_file("${PROJ}.pc.in" ${PCFILE} @ONLY)
set_target_properties(${PROJ} PROPERTIES VERSION ${VERSION})
set_target_properties(${PROJ} PROPERTIES PUBLIC_HEADER ${LIBHEADER})
# Installation of the program
include(GNUInstallDirs)
#install(TARGETS ${PROJ} DESTINATION "bin")
install(TARGETS ${PROJ} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
install(FILES ${PCFILE} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
# EXAMPLES
if(EXAMPLES)
add_subdirectory(examples)
endif()

53
LibSidServo/conf.c Normal file
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/*
* 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/>.
*/
#include <stdio.h>
#include <usefull_macros.h>
#include "sidservo.h"
conf_t Conf = {0};
static sl_option_t cmdlnopts[] = {
{"mountpath", NEED_ARG, NULL, 0, arg_string, APTR(&Conf.MountPath), "path to mount device"},
{"mountspeed", NEED_ARG, NULL, 0, arg_int, APTR(&Conf.MountSpeed), "serial speed of mount device"},
{"encoderpath", NEED_ARG, NULL, 0, arg_string, APTR(&Conf.EncoderPath), "path to encoder device"},
{"encoderspeed",NEED_ARG, NULL, 0, arg_int, APTR(&Conf.EncoderSpeed), "serial speed of encoder device"},
{"verbose", NEED_ARG, NULL, 0, arg_int, APTR(&Conf.verbose), "verbose level"},
};
int readconf(const char *path){
int o = sl_conf_readopts(path, cmdlnopts);
if(o > 0){
DBG("Got %d parameters in %s", o, path);
char *buf = sl_print_opts(cmdlnopts, TRUE);
DBG("%s\n", buf);
FREE(buf);
}
return o;
}
void dumpconf(){
char *buf = sl_print_opts(cmdlnopts, TRUE);
printf("%s\n", buf);
FREE(buf);
}
void help(){
sl_showhelp(-1, cmdlnopts);
}

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LibSidServo/conf.h Normal file
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/*
* 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/>.
*/
#pragma once
int readconf(const char *path);
void dumpconf();
void help();

8
LibSidServo/examples/CMakeLists.txt Normal file
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project(examples)
# common includes & library
include_directories(../)
link_libraries(sidservo usefull_macros)
# exe list
add_executable(dumpmoving dumpmoving.c)

84
LibSidServo/examples/dumpmoving.c Normal file
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/*
* 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/>.
*/
#include <signal.h>
#include <stdio.h>
#include <time.h>
#include <usefull_macros.h>
#include "sidservo.h"
typedef struct{
int help;
int confhelp;
int verbose;
char *logfile;
char *conffile;
char *coordsoutput;
} parameters;
static parameters G = {0};
static sl_option_t cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"confhelp", NO_ARGS, NULL, 0, arg_int, APTR(&G.confhelp), "show configuration file help"},
{"verbose", NO_ARGS, NULL, 'v', arg_none, APTR(&G.verbose), "verbose level (each -v adds 1)"},
{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), "log file name"},
{"conffile", NEED_ARG, NULL, 'c', arg_string, APTR(&G.conffile), "configuration file name"},
{"coordsfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
end_option
};
void signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
LOGERR("Exit with status %d", sig);
Mount.quit();
exit(sig);
}
int main(int argc, char **argv){
sl_init();
sl_parseargs(&argc, &argv, cmdlnopts);
if(G.help) sl_showhelp(-1, cmdlnopts);
if(G.confhelp) Mount.helpandquit();
if(!G.conffile) ERRX("Point configuration file name");
sl_loglevel_e lvl = G.verbose + LOGLEVEL_ERR;
if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
if(G.logfile) OPENLOG(G.logfile, lvl, 1);
time_t curtime = time(NULL);
LOGMSG("Started @ %s", ctime(&curtime));
if(Mount.readconf(G.conffile) < 0) ERRX("Can't read configuration file %s", G.conffile);
green("Got config:\n");
Mount.dumpconf();
if(!Mount.init()) ERRX("Can't init");
DBG("Devices ready");
LOGMSG("Mount device %s @ %d", Conf.MountPath, Conf.MountSpeed);
LOGMSG("Encoder device %s @ %d", Conf.EncoderPath, Conf.EncoderSpeed);
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGHUP, SIG_IGN); // hup - ignore
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
;;;
Mount.quit();
return 0;
}

1
LibSidServo/libsidservo.cflags Normal file
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-std=c17

6
LibSidServo/libsidservo.config Normal file
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// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42
#define EBUG
#define _POSIX_C_SOURCE
#define PACKAGE_VERSION "0.0.1"

1
LibSidServo/libsidservo.creator Normal file
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[General]

184
LibSidServo/libsidservo.creator.user Normal file
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1
LibSidServo/libsidservo.cxxflags Normal file
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-std=c++17

9
LibSidServo/libsidservo.files Normal file
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CMakeLists.txt
conf.c
conf.h
examples/dumpmoving.c
main.c
sidservo.h
serial.c
examples/CMakeLists.txt
serial.h

0
LibSidServo/libsidservo.includes Normal file
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61
LibSidServo/main.c Normal file
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/*
* 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/>.
*/
#include <stdio.h>
#include <stdlib.h>
#include <usefull_macros.h>
#include "conf.h"
#include "serial.h"
#include "sidservo.h"
static int init(){
if(!Conf.EncoderPath || !Conf.EncoderSpeed){
WARNX("Define encoder device path and speed");
return FALSE;
}
if(!Conf.MountPath || !Conf.MountSpeed){
WARNX("Define mount device path and speed");
return FALSE;
}
if(!openEncoder(Conf.EncoderPath, Conf.EncoderSpeed)){
WARNX("Can't open %s with speed %d", Conf.EncoderPath, Conf.EncoderSpeed);
return FALSE;
}
if(!openMount(Conf.MountPath, Conf.MountSpeed)){
WARNX("Can't open %s with speed %d", Conf.MountPath, Conf.MountSpeed);
return FALSE;
}
// init RNG
srand48(sl_random_seed());
return TRUE;
}
static void quit(){
DBG("Close serial devices");
closeSerial();
DBG("Exit");
}
mount_t Mount = {
.readconf = readconf,
.dumpconf = dumpconf,
.helpandquit = help,
.init = init,
.quit = quit,
};

7
LibSidServo/mainconf.conf Normal file
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# configuration file for SSII driven equatorial mount
verbose = 5
mountpath = /dev/ttyS1
mountspeed = 19200
encoderpath = /dev/ttyUSB0
encoderspeed = 153000

140
LibSidServo/serial.c Normal file
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/*
* 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/>.
*/
#include <pthread.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <usefull_macros.h>
#include "serial.h"
#include "sidservo.h"
// serial devices
static sl_tty_t *EncDev = NULL, *MntDev = NULL;
// time of last EncData started
static double tgot = 0.;
// last Enc values
static uint32_t encX = 0, encY = 0;
static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_t encthread;
typedef struct __attribute__((packed)){
uint8_t magick;
uint32_t encX;
uint32_t encY;
uint8_t CRC[4];
} enc_t;
static void parce_encbuf(uint8_t databuf[ENC_DATALEN], double nexttime){
enc_t *edata = (enc_t*) databuf;
if(edata->magick != ENC_MAGICK){
DBG("No magick");
return;
}
if(edata->CRC[3]){
DBG("No 0 @ end: 0x%02x", edata->CRC[3]);
return;
}
uint32_t POS_SUM = 0;
for(int i = 1; i < 9; ++i) POS_SUM += databuf[i];
uint8_t x = POS_SUM >> 8;
if(edata->CRC[0] != x){
DBG("CRC[0] = 0x%02x, need 0x%02x", edata->CRC[0], x);
return;
}
uint8_t y = ((0xFFFF - POS_SUM) & 0xFF) - x;
if(edata->CRC[1] != y){
DBG("CRC[1] = 0x%02x, need 0x%02x", edata->CRC[1], y);
return;
}
y = (0xFFFF - POS_SUM) >> 8;
if(edata->CRC[2] != y){
DBG("CRC[2] = 0x%02x, need 0x%02x", edata->CRC[2], y);
return;
}
encX = edata->encX;
encY = edata->encY;
tgot = nexttime;
}
static void *encoderthread(void _U_ *u){
uint8_t databuf[ENC_DATALEN];
int wridx = 0;
double nexttime = 0.;
void add2buf(){
size_t len = ENC_DATALEN - wridx;
if(EncDev->buflen < len) len = EncDev->buflen;
memcpy(databuf+wridx, EncDev->buf, len);
wridx += len;
}
while(EncDev){
if(sl_tty_read(EncDev)){
DBG("Got %zd bytes from Encoder", EncDev->buflen);
if(EncDev->buflen <= ENC_DATALEN){
if(wridx == 0){
if((uint8_t)EncDev->buf[0] == ENC_MAGICK){
add2buf();
nexttime = sl_dtime();
}
}else add2buf();
if(wridx == ENC_DATALEN){
parce_encbuf(databuf, nexttime);
wridx = 0;
}
}
}
}
return NULL;
}
int openEncoder(const char *path, int speed){
EncDev = sl_tty_new((char*)path, speed, 256);
if(EncDev) EncDev = sl_tty_open(EncDev, 1);
if(!EncDev) return FALSE;
sl_tty_tmout(5.); // 5us timeout
if(pthread_create(&encthread, NULL, encoderthread, NULL)) return FALSE;
DBG("Encoder opened");
return TRUE;
}
int openMount(const char *path, int speed){
MntDev = sl_tty_new((char*)path, speed, 256);
if(MntDev) MntDev = sl_tty_open(MntDev, 1);
if(!MntDev) return FALSE;
DBG("Mount opened");
return TRUE;
}
void closeSerial(){
if(MntDev){
DBG("Close mount");
pthread_mutex_lock(&mntmutex);
sl_tty_close(&MntDev);
pthread_mutex_unlock(&mntmutex);
}
if(EncDev){
DBG("Close encoder");
pthread_cancel(encthread);
pthread_join(encthread, NULL);
sl_tty_close(&EncDev);
}
}

28
LibSidServo/serial.h Normal file
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/*
* 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/>.
*/
#pragma once
// magick starting sequence
#define ENC_MAGICK (204)
// encoder data sequence length
#define ENC_DATALEN (13)
int openEncoder(const char *path, int speed);
int openMount(const char *path, int speed);
void closeSerial();

38
LibSidServo/sidservo.h Normal file
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/*
* 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/>.
*/
#pragma once
typedef struct{
char* MountPath;
int MountSpeed;
char* EncoderPath;
int EncoderSpeed;
int verbose;
} conf_t;
typedef struct{
int (*readconf)(const char *path); // read config file
void (*dumpconf)();
void (*helpandquit)();
int (*init)();
void (*quit)();
} mount_t;
extern mount_t Mount;
extern conf_t Conf;

10
LibSidServo/sidservo.pc.in Normal file
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prefix=@CMAKE_INSTALL_PREFIX@
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir=${prefix}/include
Name: @PROJ@
Description: library for managing SiderealServo II based equatorial mount
Version: @VERSION@
Libs: -L${libdir} -l@PROJ@
Cflags: -I${includedir}