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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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2
CMakeLists.txt
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@ -14,8 +14,8 @@ set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
set(EXAMPLES OFF CACHE BOOL "" FORCE) set(EXAMPLES OFF CACHE BOOL "" FORCE)
# set(CMAKE_BUILD_TYPE "Release") # set(CMAKE_BUILD_TYPE "Release")
add_subdirectory(LibSidServo)
set(CMAKE_BUILD_TYPE "Debug") set(CMAKE_BUILD_TYPE "Debug")
add_subdirectory(LibSidServo)
# add_subdirectory(cxx) # add_subdirectory(cxx)
add_subdirectory(mcc) add_subdirectory(mcc)

72
LibSidServo/PID.c
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@ -84,41 +84,42 @@ typedef struct{
* @return calculated new speed or -1 for max speed * @return calculated new speed or -1 for max speed
*/ */
static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > MCC_PID_MAX_DT){ if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > Conf.PIDMaxDt){
DBG("target time: %g, axis time: %g - too big! (%g)", tagpos->t, axis->position.t, MCC_PID_MAX_DT); DBG("target time: %g, axis time: %g - too big! (tag-ax=%g)", tagpos->t, axis->position.t, tagpos->t - axis->position.t);
return axis->speed.val; // data is too old or wrong return axis->speed.val; // data is too old or wrong
} }
double error = tagpos->val - axis->position.val, fe = fabs(error); double error = tagpos->val - axis->position.val, fe = fabs(error);
DBG("error: %g", error);
PIDController_t *pid = NULL; PIDController_t *pid = NULL;
switch(axis->state){ switch(axis->state){
case AXIS_SLEWING: case AXIS_SLEWING:
if(fe < MCC_MAX_POINTING_ERR){ if(fe < Conf.MaxPointingErr){
axis->state = AXIS_POINTING; axis->state = AXIS_POINTING;
DBG("--> Pointing"); DBG("--> Pointing");
pid = pidpair->PIDC; pid = pidpair->PIDC;
}else{ }else{
DBG("Slewing..."); DBG("Slewing...");
return -1.; // max speed for given axis return NAN; // max speed for given axis
} }
break; break;
case AXIS_POINTING: case AXIS_POINTING:
if(fe < MCC_MAX_GUIDING_ERR){ if(fe < Conf.MaxFinePoingintErr){
axis->state = AXIS_GUIDING; axis->state = AXIS_GUIDING;
DBG("--> Guiding"); DBG("--> Guiding");
pid = pidpair->PIDV; pid = pidpair->PIDV;
}else if(fe > MCC_MAX_POINTING_ERR){ }else if(fe > Conf.MaxPointingErr){
DBG("--> Slewing"); DBG("--> Slewing");
axis->state = AXIS_SLEWING; axis->state = AXIS_SLEWING;
return -1.; return NAN;
} else pid = pidpair->PIDC; } else pid = pidpair->PIDC;
break; break;
case AXIS_GUIDING: case AXIS_GUIDING:
pid = pidpair->PIDV; pid = pidpair->PIDV;
if(fe > MCC_MAX_GUIDING_ERR){ if(fe > Conf.MaxFinePoingintErr){
DBG("--> Pointing"); DBG("--> Pointing");
axis->state = AXIS_POINTING; axis->state = AXIS_POINTING;
pid = pidpair->PIDC; pid = pidpair->PIDC;
}else if(fe < MCC_MAX_ATTARGET_ERR){ }else if(fe < Conf.MaxGuidingErr){
DBG("At target"); DBG("At target");
// TODO: we can point somehow that we are at target or introduce new axis state // TODO: we can point somehow that we are at target or introduce new axis state
}else DBG("Current error: %g", fe); }else DBG("Current error: %g", fe);
@ -126,7 +127,7 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
case AXIS_STOPPED: // start pointing to target; will change speed next time case AXIS_STOPPED: // start pointing to target; will change speed next time
DBG("AXIS STOPPED!!!!"); DBG("AXIS STOPPED!!!!");
axis->state = AXIS_SLEWING; axis->state = AXIS_SLEWING;
return -1.; return NAN;
case AXIS_ERROR: case AXIS_ERROR:
DBG("Can't move from erroneous state"); DBG("Can't move from erroneous state");
return 0.; return 0.;
@ -135,12 +136,12 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
DBG("WTF? Where is a PID?"); DBG("WTF? Where is a PID?");
return axis->speed.val; return axis->speed.val;
} }
if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > MCC_PID_MAX_DT){ if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > Conf.PIDMaxDt){
DBG("time diff too big: clear PID"); DBG("time diff too big: clear PID");
pid_clear(pid); pid_clear(pid);
} }
double dt = tagpos->t - pid->prevT; double dt = tagpos->t - pid->prevT;
if(dt > MCC_PID_MAX_DT) dt = MCC_PID_CYCLE_TIME; if(dt > Conf.PIDMaxDt) dt = Conf.PIDCycleDt;
pid->prevT = tagpos->t; pid->prevT = tagpos->t;
DBG("CALC PID (er=%g, dt=%g), state=%d", error, dt, axis->state); DBG("CALC PID (er=%g, dt=%g), state=%d", error, dt, axis->state);
double tagspeed = pid_calculate(pid, error, dt); double tagspeed = pid_calculate(pid, error, dt);
@ -154,22 +155,23 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
* @param endpoint - stop point (some far enough point to stop in case of hang) * @param endpoint - stop point (some far enough point to stop in case of hang)
* @return error code * @return error code
*/ */
mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoint){ mcc_errcodes_t correct2(const coordval_pair_t *target){
static PIDpair_t pidX = {0}, pidY = {0}; static PIDpair_t pidX = {0}, pidY = {0};
if(!pidX.PIDC){ if(!pidX.PIDC){
pidX.PIDC = pid_create(&Conf.XPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT); pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidX.PIDC) return MCC_E_FATAL; if(!pidX.PIDC) return MCC_E_FATAL;
pidX.PIDV = pid_create(&Conf.XPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT); pidX.PIDV = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidX.PIDV) return MCC_E_FATAL; if(!pidX.PIDV) return MCC_E_FATAL;
} }
if(!pidY.PIDC){ if(!pidY.PIDC){
pidY.PIDC = pid_create(&Conf.YPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT); pidY.PIDC = pid_create(&Conf.YPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidY.PIDC) return MCC_E_FATAL; if(!pidY.PIDC) return MCC_E_FATAL;
pidY.PIDV = pid_create(&Conf.YPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT); pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidY.PIDV) return MCC_E_FATAL; if(!pidY.PIDV) return MCC_E_FATAL;
} }
mountdata_t m; mountdata_t m;
coordpair_t tagspeed; coordpair_t tagspeed; // absolute value of speed
double Xsign = 1., Ysign = 1.; // signs of speed (for target calculation)
if(MCC_E_OK != Mount.getMountData(&m)) return MCC_E_FAILED; if(MCC_E_OK != Mount.getMountData(&m)) return MCC_E_FAILED;
axisdata_t axis; axisdata_t axis;
DBG("state: %d/%d", m.Xstate, m.Ystate); DBG("state: %d/%d", m.Xstate, m.Ystate);
@ -177,20 +179,42 @@ mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoi
axis.position = m.encXposition; axis.position = m.encXposition;
axis.speed = m.encXspeed; axis.speed = m.encXspeed;
tagspeed.X = getspeed(&target->X, &pidX, &axis); tagspeed.X = getspeed(&target->X, &pidX, &axis);
if(tagspeed.X < 0.) tagspeed.X = -tagspeed.X; if(isnan(tagspeed.X)){ // max speed
if(tagspeed.X > MCC_MAX_X_SPEED) tagspeed.X = MCC_MAX_X_SPEED; if(target->X.val < axis.position.val) Xsign = -1.;
tagspeed.X = Xlimits.max.speed;
}else{
if(tagspeed.X < 0.){ tagspeed.X = -tagspeed.X; Xsign = -1.; }
if(tagspeed.X > Xlimits.max.speed) tagspeed.X = Xlimits.max.speed;
}
axis_status_t xstate = axis.state; axis_status_t xstate = axis.state;
axis.state = m.Ystate; axis.state = m.Ystate;
axis.position = m.encYposition; axis.position = m.encYposition;
axis.speed = m.encYspeed; axis.speed = m.encYspeed;
tagspeed.Y = getspeed(&target->Y, &pidY, &axis); tagspeed.Y = getspeed(&target->Y, &pidY, &axis);
if(tagspeed.Y < 0.) tagspeed.Y = -tagspeed.Y; if(isnan(tagspeed.Y)){ // max speed
if(tagspeed.Y > MCC_MAX_Y_SPEED) tagspeed.Y = MCC_MAX_Y_SPEED; if(target->Y.val < axis.position.val) Ysign = -1.;
tagspeed.Y = Ylimits.max.speed;
}else{
if(tagspeed.Y < 0.){ tagspeed.Y = -tagspeed.Y; Ysign = -1.; }
if(tagspeed.Y > Ylimits.max.speed) tagspeed.Y = Ylimits.max.speed;
}
axis_status_t ystate = axis.state; axis_status_t ystate = axis.state;
if(m.Xstate != xstate || m.Ystate != ystate){ if(m.Xstate != xstate || m.Ystate != ystate){
DBG("State changed"); DBG("State changed");
setStat(xstate, ystate); setStat(xstate, ystate);
} }
DBG("TAG speeds: %g/%g", tagspeed.X, tagspeed.Y); coordpair_t endpoint;
return Mount.moveWspeed(endpoint, &tagspeed); // allow at least PIDMaxDt moving with target speed
double dv = fabs(tagspeed.X - m.encXspeed.val);
double adder = dv/Xlimits.max.accel * (m.encXspeed.val + dv / 2.) // distanse with changing speed
+ Conf.PIDMaxDt * tagspeed.X // PIDMaxDt const speed moving
+ tagspeed.X * tagspeed.X / Xlimits.max.accel / 2.; // stopping
endpoint.X = m.encXposition.val + Xsign * adder;
dv = fabs(tagspeed.Y - m.encYspeed.val);
adder = dv/Ylimits.max.accel * (m.encYspeed.val + dv / 2.)
+ Conf.PIDMaxDt * tagspeed.Y
+ tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
endpoint.Y = m.encYposition.val + Ysign * tagspeed.Y / Ylimits.max.accel;
DBG("TAG speeds: %g/%g; TAG pos: %g/%g", tagspeed.X, tagspeed.Y, endpoint.X, endpoint.Y);
return Mount.moveWspeed(&endpoint, &tagspeed);
} }

2
LibSidServo/PID.h
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@ -37,4 +37,4 @@ void pid_clear(PIDController_t *pid);
void pid_delete(PIDController_t **pid); void pid_delete(PIDController_t **pid);
double pid_calculate(PIDController_t *pid, double error, double dt); double pid_calculate(PIDController_t *pid, double error, double dt);
mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoint); mcc_errcodes_t correct2(const coordval_pair_t *target);

64
LibSidServo/dbg.h
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@ -1,64 +0,0 @@
/*
* 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
#include <stdlib.h>
#include "sidservo.h"
extern conf_t Conf;
// unused arguments of functions
#define _U_ __attribute__((__unused__))
// break absent in `case`
#define FALLTHRU __attribute__ ((fallthrough))
// and synonym for FALLTHRU
#define NOBREAKHERE __attribute__ ((fallthrough))
// weak functions
#define WEAK __attribute__ ((weak))
#ifndef DBL_EPSILON
#define DBL_EPSILON (2.2204460492503131e-16)
#endif
#ifndef FALSE
#define FALSE (0)
#endif
#ifndef TRUE
#define TRUE (1)
#endif
#ifdef EBUG
#include <stdio.h>
#define COLOR_RED "\033[1;31;40m"
#define COLOR_GREEN "\033[1;32;40m"
#define COLOR_OLD "\033[0;0;0m"
#define FNAME() do{ fprintf(stderr, COLOR_GREEN "\n%s " COLOR_OLD, __func__); \
fprintf(stderr, "(%s, line %d)\n", __FILE__, __LINE__);} while(0)
#define DBG(...) do{ fprintf(stderr, COLOR_RED "\n%s " COLOR_OLD, __func__); \
fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \
fprintf(stderr, "\n");} while(0)
#else // EBUG
#define FNAME()
#define DBG(...)
#endif // EBUG

49
LibSidServo/examples/conf.c
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@ -24,25 +24,32 @@
static conf_t Config = { static conf_t Config = {
.MountDevPath = "/dev/ttyUSB0", .MountDevPath = "/dev/ttyUSB0",
.MountDevSpeed = 19200, .MountDevSpeed = 19200,
.EncoderXDevPath = "/dev/encoderX0", .EncoderXDevPath = "/dev/encoder_X0",
.EncoderYDevPath = "/dev/encoderY0", .EncoderYDevPath = "/dev/encoder_Y0",
.EncoderDevSpeed = 153000, .EncoderDevSpeed = 153000,
.MountReqInterval = 0.1, .MountReqInterval = 0.1,
.EncoderReqInterval = 0.05, .EncoderReqInterval = 0.001,
.SepEncoder = 2, .SepEncoder = 2,
.EncoderSpeedInterval = 0.1, .EncoderSpeedInterval = 0.05,
.XPIDC.P = 0.8, .EncodersDisagreement = 1e-5, // 2''
.PIDMaxDt = 1.,
.PIDRefreshDt = 0.1,
.PIDCycleDt = 5.,
.XPIDC.P = 0.5,
.XPIDC.I = 0.1, .XPIDC.I = 0.1,
.XPIDC.D = 0.3, .XPIDC.D = 0.2,
.XPIDV.P = 1., .XPIDV.P = 0.09,
.XPIDV.I = 0.01, .XPIDV.I = 0.0,
.XPIDV.D = 0.2, .XPIDV.D = 0.05,
.YPIDC.P = 0.8, .YPIDC.P = 0.5,
.YPIDC.I = 0.1, .YPIDC.I = 0.1,
.YPIDC.D = 0.3, .YPIDC.D = 0.2,
.YPIDV.P = 0.5, .YPIDV.P = 0.09,
.YPIDV.I = 0.2, .YPIDV.I = 0.0,
.YPIDV.D = 0.5, .YPIDV.D = 0.05,
.MaxPointingErr = 0.13962634,
.MaxFinePoingintErr = 0.026179939,
.MaxGuidingErr = 4.8481368e-7,
}; };
static sl_option_t opts[] = { 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"}, {"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"}, {"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"}, {"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)"}, {"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)"}, {"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)"}, {"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"}, {"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"}, {"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)"}, {"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)"}, {"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)"}, {"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)"}, {"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)"}, {"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)"}, {"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 end_option
}; };
@ -93,5 +108,5 @@ void dumpConf(){
} }
void confHelp(){ void confHelp(){
sl_showhelp(-1, opts); sl_conf_showhelp(-1, opts);
} }

2
LibSidServo/examples/dump.c
View File

@ -75,7 +75,7 @@ void logmnt(FILE *fcoords, mountdata_t *m){
if(!fcoords) return; if(!fcoords) return;
//DBG("LOG %s", m ? "data" : "header"); //DBG("LOG %s", m ? "data" : "header");
if(!m){ // write header if(!m){ // write header
fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) VX(d/s) VY(d/s) millis\n"); fprintf(fcoords, " time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) VX(d/s) VY(d/s) millis\n");
return; return;
}else if(dumpT0 < 0.) dumpT0 = m->encXposition.t; }else if(dumpT0 < 0.) dumpT0 = m->encXposition.t;
// write data // write data

1
LibSidServo/examples/dumpmoving.c
View File

@ -73,6 +73,7 @@ int main(int argc, char **argv){
conf_t *Config = readServoConf(G.conffile); conf_t *Config = readServoConf(G.conffile);
if(!Config){ if(!Config){
dumpConf(); dumpConf();
confHelp();
return 1; return 1;
} }
if(G.coordsoutput){ if(G.coordsoutput){

6
LibSidServo/examples/dumpmoving_dragNtrack.c
View File

@ -139,8 +139,10 @@ static mcc_errcodes_t return2zero(){
short_command_t cmd = {0}; short_command_t cmd = {0};
DBG("Try to move to zero"); DBG("Try to move to zero");
cmd.Xmot = 0.; cmd.Ymot = 0.; cmd.Xmot = 0.; cmd.Ymot = 0.;
cmd.Xspeed = MCC_MAX_X_SPEED; coordpair_t maxspd;
cmd.Yspeed = MCC_MAX_Y_SPEED; if(MCC_E_OK != Mount.getMaxSpeed(&maxspd)) return MCC_E_FAILED;
cmd.Xspeed = maxspd.X;
cmd.Yspeed = maxspd.Y;
/*cmd.xychange = 1; /*cmd.xychange = 1;
cmd.XBits = 100; cmd.XBits = 100;
cmd.YBits = 20;*/ cmd.YBits = 20;*/

15
LibSidServo/examples/scmd_traectory.c
View File

@ -44,6 +44,7 @@ typedef struct{
char *conffile; char *conffile;
} parameters; } parameters;
static conf_t *Config = NULL;
static FILE *fcoords = NULL, *errlog = NULL; static FILE *fcoords = NULL, *errlog = NULL;
static pthread_t dthr; static pthread_t dthr;
static parameters G = { static parameters G = {
@ -96,8 +97,7 @@ static void runtraectory(traectory_fn tfn){
if(!tfn) return; if(!tfn) return;
coordval_pair_t telXY; coordval_pair_t telXY;
coordval_pair_t target; coordval_pair_t target;
coordpair_t traectXY, endpoint; coordpair_t traectXY;
endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
double t0 = dumpt0(), tlast = 0., tstart = Mount.currentT(); double t0 = dumpt0(), tlast = 0., tstart = Mount.currentT();
double tlastX = 0., tlastY = 0.; double tlastX = 0., tlastY = 0.;
while(1){ while(1){
@ -113,11 +113,6 @@ static void runtraectory(traectory_fn tfn){
if(!traectory_point(&traectXY, t)) break; if(!traectory_point(&traectXY, t)) break;
target.X.val = traectXY.X; target.Y.val = traectXY.Y; target.X.val = traectXY.X; target.Y.val = traectXY.Y;
target.X.t = target.Y.t = t; target.X.t = target.Y.t = t;
// check whether we should change direction
if(telXY.X.val > traectXY.X) endpoint.X = -G.Xmax;
else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
if(t0 < 0.) t0 = dumpt0(); if(t0 < 0.) t0 = dumpt0();
else{ else{
//DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y)); //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
@ -126,8 +121,8 @@ static void runtraectory(traectory_fn tfn){
if(errlog) if(errlog)
fprintf(errlog, "%10.4f %10.4f %10.4f\n", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val)); fprintf(errlog, "%10.4f %10.4f %10.4f\n", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
} }
if(MCC_E_OK != Mount.correctTo(&target, &endpoint)) WARNX("Error of correction!"); if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50); while((t = Mount.currentT()) - tlast < Config->PIDRefreshDt) usleep(500);
tlast = t; tlast = t;
} }
WARNX("No next traectory point or emulation ends"); WARNX("No next traectory point or emulation ends");
@ -153,7 +148,7 @@ int main(int argc, char **argv){
if(!(fcoords = fopen(G.coordsoutput, "w"))) if(!(fcoords = fopen(G.coordsoutput, "w")))
ERRX("Can't open %s", G.coordsoutput); ERRX("Can't open %s", G.coordsoutput);
}else fcoords = stdout; }else fcoords = stdout;
conf_t *Config = readServoConf(G.conffile); Config = readServoConf(G.conffile);
if(!Config || G.dumpconf){ if(!Config || G.dumpconf){
dumpConf(); dumpConf();
return 1; return 1;

9
LibSidServo/libsidservo.creator.user
View File

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 17.0.2, 2025-11-01T14:58:43. --> <!-- Written by QtCreator 18.0.0, 2025-11-27T17:22:09. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>
@ -86,6 +86,7 @@
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/> <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
<value type="bool" key="ClangTools.UseGlobalSettings">true</value> <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
</valuemap> </valuemap>
<value type="int" key="RcSync">0</value>
</valuemap> </valuemap>
</data> </data>
<data> <data>
@ -164,6 +165,7 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value> <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value> <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
</valuemap> </valuemap>
@ -198,6 +200,7 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value> <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value> <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
</valuemap> </valuemap>
@ -208,10 +211,6 @@
<variable>ProjectExplorer.Project.TargetCount</variable> <variable>ProjectExplorer.Project.TargetCount</variable>
<value type="qlonglong">1</value> <value type="qlonglong">1</value>
</data> </data>
<data>
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
<value type="int">22</value>
</data>
<data> <data>
<variable>Version</variable> <variable>Version</variable>
<value type="int">22</value> <value type="int">22</value>

65
LibSidServo/main.c
View File

@ -35,14 +35,17 @@
conf_t Conf = {0}; conf_t Conf = {0};
// parameters for model // parameters for model
static movemodel_t *Xmodel, *Ymodel; 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 // 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 = { Xlimits = {
.min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6}, .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 = { Ylimits = {
.min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6}, .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); static mcc_errcodes_t shortcmd(short_command_t *cmd);
@ -58,7 +61,7 @@ double nanotime(){
struct timespec start; struct timespec start;
if(clock_gettime(CLOCK_REALTIME, &start)) return -1.; if(clock_gettime(CLOCK_REALTIME, &start)) return -1.;
t0 = (double)start.tv_sec + (double)start.tv_nsec * 1e-9 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; 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); return (numerator / denominator);
} }
/** /**
* @brief init - open serial devices and do other job * @brief init - open serial devices and do other job
* @param c - initial configuration * @param c - initial configuration
@ -149,11 +151,15 @@ static mcc_errcodes_t init(conf_t *c){
mcc_errcodes_t ret = MCC_E_OK; mcc_errcodes_t ret = MCC_E_OK;
Xmodel = model_init(&Xlimits); Xmodel = model_init(&Xlimits);
Ymodel = model_init(&Ylimits); 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(Conf.RunModel){
if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED; if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
return MCC_E_OK; 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"); DBG("Define mount device path and speed");
ret = MCC_E_BADFORMAT; ret = MCC_E_BADFORMAT;
}else if(!openMount()){ }else if(!openMount()){
@ -169,16 +175,11 @@ static mcc_errcodes_t init(conf_t *c){
ret = MCC_E_ENCODERDEV; ret = MCC_E_ENCODERDEV;
} }
} }
if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){ // TODO: read hardware configuration on init
DBG("Bad value of MountReqInterval");
ret = MCC_E_BADFORMAT;
}
if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){ if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
DBG("Wrong speed interval"); DBG("Wrong speed interval");
ret = MCC_E_BADFORMAT; 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(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) return ret; if(ret != MCC_E_OK) return ret;
return updateMotorPos(); 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 // check coordinates (rad) and speeds (rad/s); return FALSE if failed
// TODO fix to real limits!!! // TODO fix to real limits!!!
static int chkX(double X){ 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; return TRUE;
} }
static int chkY(double Y){ 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; return TRUE;
} }
static int chkXs(double s){ 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; return TRUE;
} }
static int chkYs(double s){ 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; return TRUE;
} }
@ -246,8 +247,8 @@ static mcc_errcodes_t move2(const coordpair_t *target){
DBG("x,y: %g, %g", target->X, target->Y); DBG("x,y: %g, %g", target->X, target->Y);
cmd.Xmot = target->X; cmd.Xmot = target->X;
cmd.Ymot = target->Y; cmd.Ymot = target->Y;
cmd.Xspeed = MCC_MAX_X_SPEED; cmd.Xspeed = Xlimits.max.speed;
cmd.Yspeed = MCC_MAX_Y_SPEED; cmd.Yspeed = Ylimits.max.speed;
mcc_errcodes_t r = shortcmd(&cmd); mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r; if(r != MCC_E_OK) return r;
setslewingstate(); 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(!target || !speed) return MCC_E_BADFORMAT;
if(!chkX(target->X) || !chkY(target->Y)) 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; 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; if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
short_command_t cmd = {0}; short_command_t cmd = {0};
cmd.Xmot = target->X; 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.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
config.Xsetpr = __bswap_32(hwConfig->Xsetpr); config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
config.Ysetpr = __bswap_32(hwConfig->Ysetpr); config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
config.Xmetpr = __bswap_32(hwConfig->Xmetpr); config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4);
config.Ymetpr = __bswap_32(hwConfig->Ymetpr); config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4);
// TODO - next // TODO - next
(void) config; (void) config;
return MCC_E_OK; 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 // init mount class
mount_t Mount = { mount_t Mount = {
.init = init, .init = init,
@ -522,5 +544,8 @@ mount_t Mount = {
.saveHWconfig = write_hwconf, .saveHWconfig = write_hwconf,
.currentT = nanotime, .currentT = nanotime,
.correctTo = correct2, .correctTo = correct2,
.getMaxSpeed = maxspeed,
.getMinSpeed = minspeed,
.getAcceleration = acceleration,
}; };

5
LibSidServo/main.h
View File

@ -28,6 +28,7 @@
#include "sidservo.h" #include "sidservo.h"
extern conf_t Conf; extern conf_t Conf;
extern limits_t Xlimits, Ylimits;
double nanotime(); double nanotime();
void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst); void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst);
typedef struct{ typedef struct{
@ -43,10 +44,6 @@ double LS_calc_slope(less_square_t *l, double x, double t);
// unused arguments of functions // unused arguments of functions
#define _U_ __attribute__((__unused__)) #define _U_ __attribute__((__unused__))
// break absent in `case`
#define FALLTHRU __attribute__ ((fallthrough))
// and synonym for FALLTHRU
#define NOBREAKHERE __attribute__ ((fallthrough))
// weak functions // weak functions
#define WEAK __attribute__ ((weak)) #define WEAK __attribute__ ((weak))

2
LibSidServo/movingmodel.h
View File

@ -44,7 +44,7 @@ typedef struct{
typedef struct{ typedef struct{
moveparam_t min; moveparam_t min;
moveparam_t max; moveparam_t max;
double acceleration; //double acceleration;
} limits_t; } limits_t;
typedef enum{ typedef enum{

11
LibSidServo/serial.c
View File

@ -68,7 +68,7 @@ void getXspeed(){
} }
pthread_mutex_lock(&datamutex); pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t - t0); double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t - t0);
if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){ if(fabs(speed) < 1.5 * Xlimits.max.speed){
mountdata.encXspeed.val = speed; mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t; mountdata.encXspeed.t = mountdata.encXposition.t;
} }
@ -91,7 +91,7 @@ void getYspeed(){
} }
pthread_mutex_lock(&datamutex); pthread_mutex_lock(&datamutex);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t - t0); double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t - t0);
if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){ if(fabs(speed) < 1.5 * Ylimits.max.speed){
mountdata.encYspeed.val = speed; mountdata.encYspeed.val = speed;
mountdata.encYspeed.t = mountdata.encYposition.t; mountdata.encYspeed.t = mountdata.encYposition.t;
} }
@ -149,10 +149,10 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val); DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
mountdata.encXposition.t = t; mountdata.encXposition.t = t;
mountdata.encYposition.t = t; mountdata.encYposition.t = t;
pthread_mutex_unlock(&datamutex);
//if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed(); //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
//if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed(); //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
getXspeed(); getYspeed(); getXspeed(); getYspeed();
pthread_mutex_unlock(&datamutex);
//DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI); //DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
} }
@ -790,13 +790,14 @@ int cmdC(SSconfig *conf, int rw){
d.len = 0; d.maxlen = sizeof(SSconfig); d.len = 0; d.maxlen = sizeof(SSconfig);
ret = wr(rcmd, &d, 1); ret = wr(rcmd, &d, 1);
DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen); DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
if(d.len != d.maxlen) return FALSE; if(d.len != d.maxlen){ ret = FALSE; goto rtn; }
// simplest checksum // simplest checksum
uint16_t sum = 0; uint16_t sum = 0;
for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i]; for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
if(sum != conf->checksum){ if(sum != conf->checksum){
DBG("got sum: %u, need: %u", conf->checksum, sum); DBG("got sum: %u, need: %u", conf->checksum, sum);
return FALSE; ret = FALSE;
goto rtn;
} }
} }
rtn: rtn:

43
LibSidServo/sidservo.h
View File

@ -32,38 +32,13 @@ extern "C"
#include <stdint.h> #include <stdint.h>
#include <sys/time.h> #include <sys/time.h>
// acceptable position error - 0.1'' // minimal serial speed of mount device
#define MCC_POSITION_ERROR (5e-7) #define MOUNT_BAUDRATE_MIN (1200)
// acceptable disagreement between motor and axis encoders - 2''
#define MCC_ENCODERS_ERROR (1e-7)
// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
#define MCC_MAX_X_SPEED (0.174533)
#define MCC_MAX_Y_SPEED (0.139626)
// accelerations by both axis (for model); TODO: move speeds/accelerations into config?
// xa=12.6 deg/s^2, ya= 9.5 deg/s^2
#define MCC_X_ACCELERATION (0.219911)
#define MCC_Y_ACCELERATION (0.165806)
// max speed interval, seconds // max speed interval, seconds
#define MCC_CONF_MAX_SPEEDINT (2.) #define MCC_CONF_MAX_SPEEDINT (2.)
// minimal speed interval in parts of EncoderReqInterval // minimal speed interval in parts of EncoderReqInterval
#define MCC_CONF_MIN_SPEEDC (3.) #define MCC_CONF_MIN_SPEEDC (3.)
// PID I cycle time (analog of "RC" for PID on opamps)
#define MCC_PID_CYCLE_TIME (5.)
// maximal PID refresh time interval (if larger all old data will be cleared)
#define MCC_PID_MAX_DT (1.)
// normal PID refresh interval
#define MCC_PID_REFRESH_DT (0.1)
// boundary conditions for axis state: "slewing/pointing/guiding"
// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 8 degrees
//#define MCC_MAX_POINTING_ERR (0.20943951)
//#define MCC_MAX_POINTING_ERR (0.08726646)
#define MCC_MAX_POINTING_ERR (0.13962634)
// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "guiding": 1.5 deg
#define MCC_MAX_GUIDING_ERR (0.026179939)
// if error less than this value we suppose that target is captured and guiding is good: 0.1''
#define MCC_MAX_ATTARGET_ERR (4.8481368e-7)
// error codes // error codes
typedef enum{ typedef enum{
@ -87,14 +62,21 @@ typedef struct{
int SepEncoder; // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices int SepEncoder; // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
char* EncoderXDevPath; // paths to new controller devices char* EncoderXDevPath; // paths to new controller devices
char* EncoderYDevPath; char* EncoderYDevPath;
double EncodersDisagreement; // acceptable disagreement between motor and axis encoders
double MountReqInterval; // interval between subsequent mount requests (seconds) double MountReqInterval; // interval between subsequent mount requests (seconds)
double EncoderReqInterval; // interval between subsequent encoder requests (seconds) double EncoderReqInterval; // interval between subsequent encoder requests (seconds)
double EncoderSpeedInterval; // interval between speed calculations double EncoderSpeedInterval; // interval between speed calculations
int RunModel; // == 1 if you want to use model instead of real mount int RunModel; // == 1 if you want to use model instead of real mount
double PIDMaxDt; // maximal PID refresh time interval (if larger all old data will be cleared)
double PIDRefreshDt; // normal PID refresh interval
double PIDCycleDt; // PID I cycle time (analog of "RC" for PID on opamps)
PIDpar_t XPIDC; // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven) PIDpar_t XPIDC; // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven)
PIDpar_t XPIDV; PIDpar_t XPIDV;
PIDpar_t YPIDC; PIDpar_t YPIDC;
PIDpar_t YPIDV; PIDpar_t YPIDV;
double MaxPointingErr; // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
double MaxFinePoingintErr; // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
double MaxGuidingErr; // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
} conf_t; } conf_t;
// coordinates/speeds in degrees or d/s: X, Y // coordinates/speeds in degrees or d/s: X, Y
@ -247,7 +229,7 @@ typedef struct{
void (*quit)(); // deinit void (*quit)(); // deinit
mcc_errcodes_t (*getMountData)(mountdata_t *d); // get last data mcc_errcodes_t (*getMountData)(mountdata_t *d); // get last data
// mcc_errcodes_t (*slewTo)(const coordpair_t *target, slewflags_t flags); // mcc_errcodes_t (*slewTo)(const coordpair_t *target, slewflags_t flags);
mcc_errcodes_t (*correctTo)(const coordval_pair_t *target, const coordpair_t *endpoint); mcc_errcodes_t (*correctTo)(const coordval_pair_t *target);
mcc_errcodes_t (*moveTo)(const coordpair_t *target); // move to given position and stop mcc_errcodes_t (*moveTo)(const coordpair_t *target); // move to given position and stop
mcc_errcodes_t (*moveWspeed)(const coordpair_t *target, const coordpair_t *speed); // move with given max speed mcc_errcodes_t (*moveWspeed)(const coordpair_t *target, const coordpair_t *speed); // move with given max speed
mcc_errcodes_t (*setSpeed)(const coordpair_t *tagspeed); // set speed mcc_errcodes_t (*setSpeed)(const coordpair_t *tagspeed); // set speed
@ -258,6 +240,9 @@ typedef struct{
mcc_errcodes_t (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration mcc_errcodes_t (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
mcc_errcodes_t (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration mcc_errcodes_t (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
double (*currentT)(); // current time double (*currentT)(); // current time
mcc_errcodes_t (*getMaxSpeed)(coordpair_t *v); // maximal speed by both axis
mcc_errcodes_t (*getMinSpeed)(coordpair_t *v); // minimal -//-
mcc_errcodes_t (*getAcceleration)(coordpair_t *a); // acceleration/deceleration
} mount_t; } mount_t;
extern mount_t Mount; extern mount_t Mount;

6
LibSidServo/ssii.c
View File

@ -183,21 +183,21 @@ mcc_errcodes_t updateMotorPos(){
if(MCC_E_OK == getMD(&md)){ if(MCC_E_OK == getMD(&md)){
if(md.encXposition.t == 0 || md.encYposition.t == 0){ if(md.encXposition.t == 0 || md.encYposition.t == 0){
DBG("Just started, t-t0 = %g!", t - t0); DBG("Just started, t-t0 = %g!", t - t0);
sleep(1);
DBG("t-t0 = %g", nanotime() - t0); DBG("t-t0 = %g", nanotime() - t0);
//usleep(10000); //usleep(10000);
continue; continue;
} }
if(md.Xstate != AXIS_STOPPED || md.Ystate != AXIS_STOPPED) return MCC_E_OK;
DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t); DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
mcc_errcodes_t OK = MCC_E_OK; mcc_errcodes_t OK = MCC_E_OK;
if(fabs(md.motXposition.val - md.encXposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){ if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val); DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){ if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
DBG("Xpos sync failed!"); DBG("Xpos sync failed!");
OK = MCC_E_FAILED; OK = MCC_E_FAILED;
}else DBG("Xpos sync OK, Dt=%g", nanotime() - t0); }else DBG("Xpos sync OK, Dt=%g", nanotime() - t0);
} }
if(fabs(md.motYposition.val - md.encYposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){ if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val); DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){ if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
DBG("Ypos sync failed!"); DBG("Ypos sync failed!");