some more

LibSidServo/examples/dumpmoving.c

@@ -74,7 +74,8 @@ int main(int argc, char **argv){
     signal(SIGINT, signals);  // ctrl+C - quit
     signal(SIGQUIT, signals); // ctrl+\ - quit
     signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
-    ;;;
+    double t0 = sl_dtime();
+    while(sl_dtime() - t0 < 10.);
     Mount.quit();
     return 0;
 }

LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 15.0.0, 2025-01-27T22:02:50. -->
+<!-- Written by QtCreator 15.0.0, 2025-01-30T22:13:51. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/libsidservo.files

@@ -6,3 +6,4 @@ sidservo.h
 serial.c
 examples/CMakeLists.txt
 serial.h
+ssii.h

LibSidServo/main.c

@@ -24,33 +24,6 @@
 
 conf_t Conf = {0};
 
-/**
- * @brief init - open serial devices and do other job
- * @param c - initial configuration
- * @return error code
- */
-static mcc_errcodes_t init(conf_t *c){
-    if(!c) return MCC_E_BADFORMAT;
-    Conf = *c;
-    if(!Conf.EncoderPath || Conf.EncoderSpeed < 1200){
-        DBG("Define encoder device path and speed");
-        return MCC_E_BADFORMAT;
-    }
-    if(!Conf.MountPath || Conf.MountSpeed < 1200){
-        DBG("Define mount device path and speed");
-        return MCC_E_BADFORMAT;
-    }
-    if(!openEncoder(Conf.EncoderPath, Conf.EncoderSpeed)){
-        DBG("Can't open %s with speed %d", Conf.EncoderPath, Conf.EncoderSpeed);
-        return MCC_E_ENCODERDEV;
-    }
-    if(!openMount(Conf.MountPath, Conf.MountSpeed)){
-        DBG("Can't open %s with speed %d", Conf.MountPath, Conf.MountSpeed);
-        return MCC_E_MOUNTDEV;
-    }
-    return MCC_E_OK;
-}
-
 /**
  * @brief quit - close all opened and return to default state
  */
@@ -60,9 +33,38 @@ static void quit(){
     DBG("Exit");
 }
 
+/**
+ * @brief init - open serial devices and do other job
+ * @param c - initial configuration
+ * @return error code
+ */
+static mcc_errcodes_t init(conf_t *c){
+    if(!c) return MCC_E_BADFORMAT;
+    Conf = *c;
+    mcc_errcodes_t ret = MCC_E_OK;
+    if(!Conf.MountPath || Conf.MountSpeed < 1200){
+        DBG("Define mount device path and speed");
+        ret = MCC_E_BADFORMAT;
+    }else if(!openMount(Conf.MountPath, Conf.MountSpeed)){
+        DBG("Can't open %s with speed %d", Conf.MountPath, Conf.MountSpeed);
+        ret = MCC_E_MOUNTDEV;
+    }
+    if(Conf.SepEncoder){
+        if(!Conf.EncoderPath || Conf.EncoderSpeed < 1200){
+            DBG("Define encoder device path and speed");
+            ret = MCC_E_BADFORMAT;
+        }else if(!openEncoder(Conf.EncoderPath, Conf.EncoderSpeed)){
+            DBG("Can't open %s with speed %d", Conf.EncoderPath, Conf.EncoderSpeed);
+            ret = MCC_E_ENCODERDEV;
+        }
+    }
+    if(ret != MCC_E_OK) quit();
+    return ret;
+}
+
 // init mount class
 mount_t Mount = {
     .init = init,
     .quit = quit,
-    .getEnc = getEnc
+    .getMountData = getMD
 };

LibSidServo/serial.c

@@ -19,32 +19,31 @@
 #include <asm-generic/termbits.h>
 #include <errno.h>
 #include <fcntl.h>
+#include <math.h>
 #include <pthread.h>
-#include <stdatomic.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <sys/ioctl.h>
 #include <sys/stat.h>
-#include <sys/time.h>
 #include <time.h>
 #include <unistd.h>
 
 #include "dbg.h"
 #include "serial.h"
+#include "ssii.h"
 
 // serial devices FD
 static int encfd = -1, mntfd = -1;
-// time of last EncData started
+// main mount data
-static _Atomic double tgot = 0.;
+static mountdata_t mountdata = {0};
-// last Enc values
-static _Atomic int32_t encX = 0, encY = 0;
 
-// mutex for RW operations with mount device
+// mutexes for RW operations with mount device and data
-static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
-// encoders thread
+                        datamutex = PTHREAD_MUTEX_INITIALIZER;
-static pthread_t encthread;
+// encoders thread and mount thread
+static pthread_t encthread, mntthread;
 
 // encoders raw data
 typedef struct __attribute__((packed)){
@@ -54,6 +53,10 @@ typedef struct __attribute__((packed)){
     uint8_t CRC[4];
 } enc_t;
 
+#define Xpos2rad(pos)  (2. * (double)pos / ENC_TURN_XTICKS * M_PI)
+#define Ypos2rad(pos)  (2. * (double)pos / ENC_TURN_YTICKS * M_PI)
+
+#if 0
 /**
  * @brief dtime - UNIX time with microsecond
  * @return value
@@ -66,12 +69,21 @@ static double dtime(){
     return t;
 }
 
+// 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
+
 /**
- * @brief parse_encbuf - check encoder buffer and fill fresh data
+ * @brief parse_encbuf - check encoder buffer (for separate encoder) and fill fresh data
  * @param databuf - input buffer with 13 bytes of data
  * @param nexttime - time when databuf[0] got
  */
-static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double nexttime){
+static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
     enc_t *edata = (enc_t*) databuf;
     if(edata->magick != ENC_MAGICK){
         DBG("No magick");
@@ -98,10 +110,12 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double nexttime){
         DBG("CRC[2] = 0x%02x, need 0x%02x", edata->CRC[2], y);
         return;
     }
-    encX = edata->encX;
+    pthread_mutex_lock(&datamutex);
-    encY = edata->encY;
+    mountdata.position.X = Xpos2rad(edata->encX);
-    tgot = nexttime;
+    mountdata.position.Y = Ypos2rad(edata->encY);
-    DBG("time = %g, X=%d, Y=%d", tgot, encX, encY);
+    mountdata.position.msrtime = *tv;
+    pthread_mutex_unlock(&datamutex);
+    DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.position.X*180./M_PI, mountdata.position.Y*180./M_PI);
 }
 
 // try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
@@ -130,11 +144,11 @@ static int getbyte(){
     return (int)byte;
 }
 
-// main encoder thread: read next data and make parsing
+// main encoder thread (for separate encoder): read next data and make parsing
 static void *encoderthread(void _U_ *u){
     uint8_t databuf[ENC_DATALEN];
     int wridx = 0, errctr = 0;
-    double starttime = 0.;
+    struct timeval tv;
     while(encfd > -1 && errctr < MAX_ERR_CTR){
         int b = getbyte();
         if(b == -2) ++errctr;
@@ -145,12 +159,12 @@ static void *encoderthread(void _U_ *u){
             if((uint8_t)b == ENC_MAGICK){
                 DBG("Got magic -> start filling packet");
                 databuf[wridx++] = (uint8_t) b;
-                starttime = dtime();
+                gettimeofday(&tv, NULL);
             }
             continue;
         }else databuf[wridx++] = (uint8_t) b;
         if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, starttime);
+            parse_encbuf(databuf, &tv);
             wridx = 0;
         }
     }
@@ -161,6 +175,26 @@ static void *encoderthread(void _U_ *u){
     return NULL;
 }
 
+// main mount thread
+static void *mountthread(void _U_ *u){
+    int errctr = 0;
+    while(mntfd > -1 && errctr < MAX_ERR_CTR){
+        ;
+        pthread_mutex_lock(&mntmutex);
+        ;
+        if(!Conf.SepEncoder){ // fill encoder data from here, as there's no separate enc thread
+            ;
+        }
+        ;
+        pthread_mutex_unlock(&mntmutex);
+    }
+    if(mntfd > -1){
+        close(mntfd);
+        mntfd = -1;
+    }
+    return NULL;
+}
+
 // open device and return its FD or -1
 static int ttyopen(const char *path, int speed){
     int fd = -1;
@@ -186,11 +220,16 @@ static int ttyopen(const char *path, int speed){
 
 // return FALSE if failed
 int openEncoder(const char *path, int speed){
+    if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
     if(encfd > -1) close(encfd);
     encfd = ttyopen(path, speed);
     if(encfd < 0) return FALSE;
-    if(pthread_create(&encthread, NULL, encoderthread, NULL)) return FALSE;
+    if(pthread_create(&encthread, NULL, encoderthread, NULL)){
-    DBG("Encoder opened");
+        close(encfd);
+        encfd = -1;
+        return FALSE;
+    }
+    DBG("Encoder opened, thread started");
     return TRUE;
 }
 
@@ -199,7 +238,12 @@ int openMount(const char *path, int speed){
     if(mntfd > -1) close(mntfd);
     mntfd = ttyopen(path, speed);
     if(mntfd < 0) return FALSE;
-    DBG("Mount opened");
+    if(pthread_create(&mntthread, NULL, mountthread, NULL)){
+        close(mntfd);
+        mntfd = -1;
+        return FALSE;
+    }
+    DBG("Mount opened, thread started");
     return TRUE;
 }
 
@@ -222,11 +266,10 @@ void closeSerial(){
 }
 
 // get fresh encoder information
-mcc_errcodes_t getEnc(coords_t *c){
+mcc_errcodes_t getMD(mountdata_t  *d){
-    if(!c) return MCC_E_BADFORMAT;
+    if(!d) return MCC_E_BADFORMAT;
-    if(encfd < 0) return MCC_E_ENCODERDEV;
+    pthread_mutex_lock(&datamutex);
-    c->msrtime = tgot;
+    *d = mountdata;
-    c->X = (double)encX / ENC_TURN_XTICKS * 360.;
+    pthread_mutex_unlock(&datamutex);
-    c->Y = (double)encY / ENC_TURN_YTICKS * 360.;
     return MCC_E_OK;
 }

LibSidServo/serial.h

@@ -33,4 +33,4 @@
 int openEncoder(const char *path, int speed);
 int openMount(const char *path, int speed);
 void closeSerial();
-mcc_errcodes_t getEnc(coords_t *c);
+mcc_errcodes_t getMD(mountdata_t  *d);

LibSidServo/sidservo.h

@@ -18,6 +18,8 @@
 
 #pragma once
 
+#include <sys/time.h>
+
 // error codes
 typedef enum{
     MCC_E_OK = 0,       // all OK
@@ -32,18 +34,24 @@ typedef struct{
     int     MountSpeed;     // serial speed
     char*   EncoderPath;    // path to encoder device
     int     EncoderSpeed;   // serial speed
+    int     SepEncoder;     // ==1 if encoder works as separate serial device
 } conf_t;
 
 // coordinates in degrees: X, Y and time when they were reached
 typedef struct{
-    double X; double Y; double msrtime;
+    double X; double Y; struct timeval msrtime;
 } coords_t;
 
+typedef struct{
+    coords_t position;
+    coords_t speed;
+} mountdata_t;
+
 // mount class
 typedef struct{
     mcc_errcodes_t  (*init)(conf_t *c);
     void            (*quit)();
-    mcc_errcodes_t  (*getEnc)(coords_t *c);
+    mcc_errcodes_t  (*getMountData)(mountdata_t *d);
 } mount_t;
 
 extern mount_t Mount;

LibSidServo/ssii.h

@@ -0,0 +1,107 @@
+/*
+ * This file is part of the SSII project.
+ * Copyright 2022 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 <stdint.h>
+
+// ASCII commands
+#define U8P(x)   ((uint8_t*)x)
+// get binary data of all statistics
+#define CMD_GETSTAT     U8P("XXS")
+// send short command
+#define CMD_SHORTCMD    U8P("XXR")
+// send long command
+#define CMD_LONGCMD     U8P("YXR")
+// get/set X/Y in motsteps
+#define CMD_MOTX        U8P("X")
+#define CMD_MOTY        U8P("Y")
+// -//- in encoders' ticks
+#define CMD_ENCX        U8P("XZ")
+#define CMD_ENCY        U8P("YZ")
+// normal stop X/Y
+#define CMD_STOPX       U8P("XN")
+#define CMD_STOPY       U8P("YN")
+// emergency stop
+#define CMD_EMSTOPX     U8P("XG")
+#define CMD_EMSTOPY     U8P("YG")
+// getters of motor's encoders per rev
+#define CMD_GETXMEPR    U8P("XXU")
+#define CMD_GETYMEPR    U8P("XXV")
+// -//- axis encoders
+#define CMD_GETXAEPR    U8P("XXT")
+#define CMD_GETYAEPR    U8P("XXZ")
+// exit ASCII checksum mode
+#define CMD_EXITACM     U8P("YXY0\r\xb8")
+
+// timeout (seconds) of reading answer (from last symbol read)
+#define READTIMEOUT (0.05)
+
+// steps per revolution; TODO: move to Conf
+#define HA_MOT_STEPSPERREV  (4394294)
+#define DEC_MOT_STEPSPERREV (3325291)
+
+// encoder's tolerance (ticks); TODO: move to Conf
+#define HAENCTOL    (25)
+#define DECENCTOL    (25)
+
+
+// all need data in one
+typedef struct{ // 41 bytes
+    uint8_t ctrlAddr;   // 0  a8 + controller address
+    int32_t DECmot;     // 1  Dec/HA motor position
+    int32_t HAmot;      // 5
+    int32_t DECenc;     // 9  Dec/HA encoder position
+    int32_t HAenc;      // 13
+    uint8_t keypad;     // 17 keypad status
+    uint8_t XBits;      // 18
+    uint8_t YBits;      // 19
+    uint8_t ExtraBits;  // 20
+    uint16_t ain0;      // 21 analog inputs
+    uint16_t ain1;      // 23
+    uint32_t millis;    // 25 milliseconds clock
+    int8_t tF;          // 29 temperature (degF)
+    uint8_t voltage;    // 30 input voltage *10 (RA worm phase?)
+    uint32_t DecLast;   // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change
+    uint32_t HALast;    // 35 Az/RA motor location at last Az/RA scope encoder location change
+    uint16_t checksum;  // 39 checksum, H inverted
+}__attribute__((packed)) SSstat;
+
+typedef struct{
+    int32_t DECmot;     // 0  DEC motor position
+    int32_t DECspeed;   // 4  DEC speed
+    int32_t HAmot;      // 8
+    int32_t HAspeed;    // 12
+    uint8_t xychange;   // 16 change Xbits/Ybits value
+    uint8_t XBits;      // 17
+    uint8_t YBits;      // 18
+    uint16_t checksum;  // 19
+} __attribute__((packed)) SSscmd; // short command
+
+typedef struct{
+    int32_t DECmot;     // 0  DEC motor position
+    int32_t DECspeed;   // 4  DEC speed
+    int32_t HAmot;      // 8
+    int32_t HAspeed;    // 12
+    int32_t DECadder;   // 16 - DEC adder
+    int32_t HAadder;    // 20
+    int32_t DECatime;   // 24 DEC adder time
+    int32_t HAatime;    // 28
+    uint16_t checksum;  // 32
+} __attribute__((packed)) SSlcmd; // long command
+