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some fixes

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This commit is contained in:
Edward Emelianov
2025-12-01 17:28:18 +03:00
parent 9066b3f091
commit 6dde28e8d9
16 changed files with 167 additions and 187 deletions
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49
LibSidServo/examples/conf.c
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@@ -24,25 +24,32 @@
static conf_t Config = {
.MountDevPath = "/dev/ttyUSB0",
.MountDevSpeed = 19200,
.EncoderXDevPath = "/dev/encoderX0",
.EncoderYDevPath = "/dev/encoderY0",
.EncoderXDevPath = "/dev/encoder_X0",
.EncoderYDevPath = "/dev/encoder_Y0",
.EncoderDevSpeed = 153000,
.MountReqInterval = 0.1,
.EncoderReqInterval = 0.05,
.EncoderReqInterval = 0.001,
.SepEncoder = 2,
.EncoderSpeedInterval = 0.1,
.XPIDC.P = 0.8,
.EncoderSpeedInterval = 0.05,
.EncodersDisagreement = 1e-5, // 2''
.PIDMaxDt = 1.,
.PIDRefreshDt = 0.1,
.PIDCycleDt = 5.,
.XPIDC.P = 0.5,
.XPIDC.I = 0.1,
.XPIDC.D = 0.3,
.XPIDV.P = 1.,
.XPIDV.I = 0.01,
.XPIDV.D = 0.2,
.YPIDC.P = 0.8,
.XPIDC.D = 0.2,
.XPIDV.P = 0.09,
.XPIDV.I = 0.0,
.XPIDV.D = 0.05,
.YPIDC.P = 0.5,
.YPIDC.I = 0.1,
.YPIDC.D = 0.3,
.YPIDV.P = 0.5,
.YPIDV.I = 0.2,
.YPIDV.D = 0.5,
.YPIDC.D = 0.2,
.YPIDV.P = 0.09,
.YPIDV.I = 0.0,
.YPIDV.D = 0.05,
.MaxPointingErr = 0.13962634,
.MaxFinePoingintErr = 0.026179939,
.MaxGuidingErr = 4.8481368e-7,
};
static sl_option_t opts[] = {
@@ -50,13 +57,17 @@ static sl_option_t opts[] = {
{"MountDevSpeed", NEED_ARG, NULL, 0, arg_int, APTR(&Config.MountDevSpeed), "serial speed of mount device"},
{"EncoderDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderDevPath), "path to encoder device"},
{"EncoderDevSpeed", NEED_ARG, NULL, 0, arg_int, APTR(&Config.EncoderDevSpeed), "serial speed of encoder device"},
{"MountReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
{"EncoderReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
{"SepEncoder", NEED_ARG, NULL, 0, arg_int, APTR(&Config.SepEncoder), "encoder is separate device (1 - one device, 2 - two devices)"},
{"EncoderXDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderXDevPath), "path to X encoder (/dev/encoderX0)"},
{"EncoderYDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderYDevPath), "path to Y encoder (/dev/encoderY0)"},
{"EncodersDisagreement", NEED_ARG,NULL, 0, arg_double, APTR(&Config.EncodersDisagreement),"acceptable disagreement between motor and axis encoders"},
{"MountReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
{"EncoderReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
{"EncoderSpeedInterval", NEED_ARG,NULL, 0, arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
{"RunModel", NEED_ARG, NULL, 0, arg_int, APTR(&Config.RunModel), "instead of real hardware run emulation"},
{"PIDMaxDt", NEED_ARG, NULL, 0, arg_double, APTR(&Config.PIDMaxDt), "maximal PID refresh time interval (if larger all old data will be cleared)"},
{"PIDRefreshDt", NEED_ARG, NULL, 0, arg_double, APTR(&Config.PIDRefreshDt), "normal PID refresh interval by master process"},
{"PIDCycleDt", NEED_ARG, NULL, 0, arg_double, APTR(&Config.PIDCycleDt), "PID I cycle time (analog of \"RC\" for PID on opamps)"},
{"XPIDCP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.P), "P of X PID (coordinate driven)"},
{"XPIDCI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.I), "I of X PID (coordinate driven)"},
{"XPIDCD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.D), "D of X PID (coordinate driven)"},
@@ -69,6 +80,10 @@ static sl_option_t opts[] = {
{"YPIDVP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.P), "P of Y PID (velocity driven)"},
{"YPIDVI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.I), "I of Y PID (velocity driven)"},
{"YPIDVD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.D), "D of Y PID (velocity driven)"},
{"MaxPointingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxPointingErr), "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
{"MaxFinePoingintErr",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxFinePoingintErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
{"MaxGuidingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxGuidingErr), "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"},
// {"",NEED_ARG, NULL, 0, arg_double, APTR(&Config.), ""},
end_option
};
@@ -93,5 +108,5 @@ void dumpConf(){
}
void confHelp(){
sl_showhelp(-1, opts);
sl_conf_showhelp(-1, opts);
}