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This commit is contained in:
Edward V. Emelianov
2025-02-16 21:59:08 +03:00
parent 53b18299dc
commit 5250aa185d
13 changed files with 281 additions and 94 deletions
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1
LibSidServo/examples/CMakeLists.txt
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@@ -5,5 +5,6 @@ include_directories(../)
link_libraries(sidservo usefull_macros)
# exe list
add_executable(goto goto.c dump.c)
add_executable(dump dumpmoving.c dump.c)
add_executable(dump_s dumpmoving_scmd.c dump.c)

32
LibSidServo/examples/dump.c
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@@ -29,10 +29,9 @@
* @param m - mount data
*/
void logmnt(FILE *fcoords, mountdata_t *m){
if(!fcoords || !m) return;
DBG("LOG");
static double t0 = -1.;
if(!fcoords) return;
//DBG("LOG %s", m ? "data" : "header");
static double t0 = -1.;
if(!m){ // write header
fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) millis T V\n");
return;
@@ -73,7 +72,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
usleep(10000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
if(mdata.millis == millis) continue;
DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
//DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
millis = mdata.millis;
if(fcoords) logmnt(fcoords, &mdata);
if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
@@ -104,3 +103,28 @@ void waitmoving(int N){
}else ++ctr;
}
}
/**
* @brief getMotPos - get current
* @param mot (o) - motor position (or NULL)
* @param Y (o) - encoder position (or NULL)
* @return FALSE if failed
*/
int getPos(coords_t *mot, coords_t *enc){
mountdata_t mdata;
int errcnt = 0;
do{
if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
else{
errcnt = 0;
if(mdata.millis) break;
}
}while(errcnt < 10);
if(errcnt >= 10){
WARNX("Can't read mount status");
return FALSE;
}
if(mot) *mot = mdata.motposition;
if(enc) *enc = mdata.encposition;
return TRUE;
}

1
LibSidServo/examples/dump.h
View File

@@ -25,3 +25,4 @@
void logmnt(FILE *fcoords, mountdata_t *m);
void dumpmoving(FILE *fcoords, double t, int N);
void waitmoving(int N);
int getPos(coords_t *mot, coords_t *enc);

77
LibSidServo/examples/dumpmoving_scmd.c
View File

@@ -28,7 +28,6 @@
#include "dump.h"
#include "sidservo.h"
#include "simpleconv.h"
#include "ssii.h"
typedef struct{
int help;
@@ -72,14 +71,32 @@ static void *dumping(void _U_ *u){
return NULL;
}
// return TRUE if motor position is reached +-2 counts
#define X2count (X_RAD2MOT(2))
#define Y2count (Y_RAD2MOT(2))
static int Xreached(double xtag){
// return TRUE if motor position is reached +- 0.1 degrees
#define X2count (DEG2RAD(0.1))
#define Y2count (DEG2RAD(0.1))
static int WaitX(double xtag){
mountdata_t mdata;
if(MCC_E_OK != Mount.getMountData(&mdata)) return FALSE;
if(fabs(mdata.motposition.X - xtag) <= X2count) return TRUE;
return FALSE;
red("Wait for %g degrees\n", RAD2DEG(xtag));
int errcnt = 0;
double sign = 0.;
uint32_t millis = 0;
do{
if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
else{
errcnt = 0;
if(mdata.millis == millis) continue;
millis = mdata.millis;
if(sign == 0.) sign = (mdata.motposition.X > xtag) ? 1. : -1.;
printf("X=%g deg, need %g deg; delta=%g arcmin\n", RAD2DEG(mdata.motposition.X),
RAD2DEG(xtag), RAD2DEG(sign*(mdata.motposition.X - xtag))*60.);
}
}while(sign*(mdata.motposition.X - xtag) > X2count && errcnt < 10);
if(errcnt >= 10){
WARNX("Too much errors");
return FALSE;
}
green("X reached position %g degrees\n", RAD2DEG(xtag));
return TRUE;
}
/*
static int Yreached(double ytag){
@@ -90,6 +107,18 @@ static int Yreached(double ytag){
}
*/
// check current position and go to 0 if non-zero
static void chk0(){
coords_t M;
if(!getPos(&M, NULL)) signals(2);
if(M.X || M.Y){
WARNX("Mount position isn't @ zero; moving");
Mount.moveTo(0., 0.);
waitmoving(G.Ncycles);
green("Now mount @ zero\n");
}
}
int main(int argc, char **argv){
sl_init();
sl_parseargs(&argc, &argv, cmdlnopts);
@@ -98,7 +127,6 @@ int main(int argc, char **argv){
if(!(fcoords = fopen(G.coordsoutput, "w")))
ERRX("Can't open %s", G.coordsoutput);
}else fcoords = stdout;
logmnt(fcoords, NULL);
mcc_errcodes_t e = Mount.init(&Config);
if(e != MCC_E_OK){
WARNX("Can't init devices");
@@ -113,34 +141,37 @@ int main(int argc, char **argv){
// start with 1degr/s, increase to 15, decrease to 1
short_command_t cmd = {0};
pthread_t dthr;
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
#define SCMD() do{if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command"); }while(0)
// goto 5 degr with 1deg/s
chk0();
logmnt(fcoords, NULL);
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
// goto 10 degr with 1deg/s
cmd.Xmot = DEG2RAD(30.);
cmd.Xspeed = DEG2RAD(1.);
SCMD();
while(!Xreached(DEG2RAD(5.)));
// goto 15 degr with 5deg/s
if(!WaitX(DEG2RAD(10.))) signals(9);
// goto 20 degr with 5deg/s
cmd.Xmot = DEG2RAD(30.);
cmd.Xspeed = DEG2RAD(2.);
SCMD();
if(!WaitX(DEG2RAD(20.))) signals(9);
// goto 30 degr with 15deg/s
cmd.Xmot = DEG2RAD(40.);
cmd.Xspeed = DEG2RAD(5.);
SCMD();
while(!Xreached(DEG2RAD(10.)));
// goto 25 degr with 15deg/s
cmd.Xmot = DEG2RAD(30.);
cmd.Xspeed = DEG2RAD(15.);
SCMD();
while(!Xreached(DEG2RAD(25.)));
// goto 29.9 degr with 1deg/s
cmd.Xmot = DEG2RAD(30.);
if(!WaitX(DEG2RAD(30.))) signals(9);
// goto 40 degr with 1deg/s
cmd.Xmot = DEG2RAD(40.);
cmd.Xspeed = DEG2RAD(1.);
SCMD();
while(!Xreached(DEG2RAD(29.9)));
if(!WaitX(DEG2RAD(40.))) signals(9);
// and go back with 15deg/s
cmd.Xmot = DEG2RAD(0.);
cmd.Xspeed = DEG2RAD(15.);
SCMD();
while(!Xreached(DEG2RAD(0.1)));
if(!WaitX(DEG2RAD(0.))) signals(9);
Mount.moveTo(0., 0.);
waitmoving(10);
// wait moving ends
pthread_join(dthr, NULL);
#undef SCMD

91
LibSidServo/examples/goto.c Normal file
View File

@@ -0,0 +1,91 @@
/*
* 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/>.
*/
// move telescope to given MOTOR position in degrees
#include <signal.h>
#include <stdio.h>
#include <time.h>
#include <usefull_macros.h>
#include "dump.h"
#include "sidservo.h"
#include "simpleconv.h"
typedef struct{
int help;
int Ncycles;
double X;
double Y;
} parameters;
static parameters G = {
.Ncycles = 40,
.X = NAN,
.Y = NAN,
};
static sl_option_t cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles of waiting in stopped state (default: 40)"},
{"newx", NEED_ARG, NULL, 'X', arg_double, APTR(&G.X), "New X coordinate"},
{"newy", NEED_ARG, NULL, 'Y', arg_double, APTR(&G.Y), "New Y coordinate"},
end_option
};
static conf_t Config = {
.MountDevPath = "/dev/ttyUSB0",
.MountDevSpeed = 19200,
//.EncoderDevPath = "/dev/ttyUSB1",
//.EncoderDevSpeed = 153000,
.MountReqInterval = 0.1,
.SepEncoder = 0
};
void signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
Mount.quit();
exit(sig);
}
int main(int _U_ argc, char _U_ **argv){
sl_init();
sl_parseargs(&argc, &argv, cmdlnopts);
if(G.help) sl_showhelp(-1, cmdlnopts);
if(MCC_E_OK != Mount.init(&Config)) ERRX("Can't init mount");
coords_t M;
if(!getPos(&M, NULL)) ERRX("Can't get current position");
printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
if(isnan(G.X) && isnan(G.Y)){
Mount.quit();
return 0;
}
if(isnan(G.X)) G.X = RAD2DEG(M.X);
if(isnan(G.Y)) G.Y = RAD2DEG(M.Y);
printf("Moving to X=%g deg, Y=%g deg\n", G.X, G.Y);
Mount.moveTo(DEG2RAD(G.X), DEG2RAD(G.Y));
sleep(1);
waitmoving(G.Ncycles);
if(!getPos(&M, NULL)) WARNX("Can't get current position");
else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
Mount.quit();
return 0;
}