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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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65
LibSidServo/main.c
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@@ -35,14 +35,17 @@
conf_t Conf = {0};
// parameters for model
static movemodel_t *Xmodel, *Ymodel;
// limits for model and/or real mount (in latter case data should be read from mount on init)
// radians, rad/sec, rad/sec^2
static limits_t
// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
// accelerations: xa=12.6 deg/s^2, ya= 9.5 deg/s^2
limits_t
Xlimits = {
.min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
.max = {.coord = 3.1241, .speed = MCC_MAX_X_SPEED, .accel = MCC_X_ACCELERATION}},
.max = {.coord = 3.1241, .speed = 0.174533, .accel = 0.219911}},
Ylimits = {
.min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
.max = {.coord = 3.1241, .speed = MCC_MAX_Y_SPEED, .accel = MCC_Y_ACCELERATION}}
.max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
;
static mcc_errcodes_t shortcmd(short_command_t *cmd);
@@ -58,7 +61,7 @@ double nanotime(){
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;
- (double)now.tv_sec - (double)now.tv_nsec * 1e-9;
}
return (double)now.tv_sec + (double)now.tv_nsec * 1e-9 + t0;
}
@@ -136,7 +139,6 @@ double LS_calc_slope(less_square_t *l, double x, double t){
return (numerator / denominator);
}
/**
* @brief init - open serial devices and do other job
* @param c - initial configuration
@@ -149,11 +151,15 @@ static mcc_errcodes_t init(conf_t *c){
mcc_errcodes_t ret = MCC_E_OK;
Xmodel = model_init(&Xlimits);
Ymodel = model_init(&Ylimits);
if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
DBG("Bad value of MountReqInterval");
ret = MCC_E_BADFORMAT;
}
if(Conf.RunModel){
if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
return MCC_E_OK;
}
if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
DBG("Define mount device path and speed");
ret = MCC_E_BADFORMAT;
}else if(!openMount()){
@@ -169,16 +175,11 @@ static mcc_errcodes_t init(conf_t *c){
ret = MCC_E_ENCODERDEV;
}
}
if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
DBG("Bad value of MountReqInterval");
ret = MCC_E_BADFORMAT;
}
// TODO: read hardware configuration on init
if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
DBG("Wrong speed interval");
ret = MCC_E_BADFORMAT;
}
//uint8_t buf[1024];
//data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) return ret;
return updateMotorPos();
@@ -187,19 +188,19 @@ static mcc_errcodes_t init(conf_t *c){
// check coordinates (rad) and speeds (rad/s); return FALSE if failed
// TODO fix to real limits!!!
static int chkX(double X){
if(X > 2.*M_PI || X < -2.*M_PI) return FALSE;
if(X > Xlimits.max.coord || X < Xlimits.min.coord) return FALSE;
return TRUE;
}
static int chkY(double Y){
if(Y > 2.*M_PI || Y < -2.*M_PI) return FALSE;
if(Y > Ylimits.max.coord || Y < Ylimits.min.coord) return FALSE;
return TRUE;
}
static int chkXs(double s){
if(s < 0. || s > MCC_MAX_X_SPEED) return FALSE;
if(s < Xlimits.min.speed || s > Xlimits.max.speed) return FALSE;
return TRUE;
}
static int chkYs(double s){
if(s < 0. || s > MCC_MAX_Y_SPEED) return FALSE;
if(s < Ylimits.min.speed || s > Ylimits.max.speed) return FALSE;
return TRUE;
}
@@ -246,8 +247,8 @@ static mcc_errcodes_t move2(const coordpair_t *target){
DBG("x,y: %g, %g", target->X, target->Y);
cmd.Xmot = target->X;
cmd.Ymot = target->Y;
cmd.Xspeed = MCC_MAX_X_SPEED;
cmd.Yspeed = MCC_MAX_Y_SPEED;
cmd.Xspeed = Xlimits.max.speed;
cmd.Yspeed = Ylimits.max.speed;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setslewingstate();
@@ -280,6 +281,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
if(!target || !speed) return MCC_E_BADFORMAT;
if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
// updateMotorPos() here can make a problem; TODO: remove?
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
short_command_t cmd = {0};
cmd.Xmot = target->X;
@@ -498,13 +500,33 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4);
config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4);
// TODO - next
(void) config;
return MCC_E_OK;
}
// getters of max/min speed and acceleration
mcc_errcodes_t maxspeed(coordpair_t *v){
if(!v) return MCC_E_BADFORMAT;
v->X = Xlimits.max.speed;
v->Y = Ylimits.max.speed;
return MCC_E_OK;
}
mcc_errcodes_t minspeed(coordpair_t *v){
if(!v) return MCC_E_BADFORMAT;
v->X = Xlimits.min.speed;
v->Y = Ylimits.min.speed;
return MCC_E_OK;
}
mcc_errcodes_t acceleration(coordpair_t *a){
if(!a) return MCC_E_BADFORMAT;
a->X = Xlimits.max.accel;
a->Y = Ylimits.max.accel;
return MCC_E_OK;
}
// init mount class
mount_t Mount = {
.init = init,
@@ -522,5 +544,8 @@ mount_t Mount = {
.saveHWconfig = write_hwconf,
.currentT = nanotime,
.correctTo = correct2,
.getMaxSpeed = maxspeed,
.getMinSpeed = minspeed,
.getAcceleration = acceleration,
};