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add new encoders' controller

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This commit is contained in:
Edward V. Emelianov
2025-04-08 22:47:46 +03:00
parent 16dd3239de
commit 8ca8183cb8
8 changed files with 183 additions and 57 deletions
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15
LibSidServo/main.c
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@@ -49,16 +49,16 @@ static mcc_errcodes_t init(conf_t *c){
if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
DBG("Define mount device path and speed");
ret = MCC_E_BADFORMAT;
}else if(!openMount(Conf.MountDevPath, Conf.MountDevSpeed)){
}else if(!openMount()){
DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
ret = MCC_E_MOUNTDEV;
}
if(Conf.SepEncoder){
if(!Conf.EncoderDevPath || Conf.EncoderDevSpeed < 1200){
DBG("Define encoder device path and speed");
if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
DBG("Define encoder device path");
ret = MCC_E_BADFORMAT;
}else if(!openEncoder(Conf.EncoderDevPath, Conf.EncoderDevSpeed)){
DBG("Can't open %s with speed %d", Conf.EncoderDevPath, Conf.EncoderDevSpeed);
}else if(!openEncoder()){
DBG("Can't open encoder device");
ret = MCC_E_ENCODERDEV;
}
}
@@ -152,10 +152,10 @@ static mcc_errcodes_t move2s(const coords_t *target, const coords_t *speed){
return MCC_E_BADFORMAT;
char buf[128];
int32_t spd = X_RS2MOTSPD(speed->X), tag = X_RAD2MOT(target->X);
snprintf(buf, 127, "%s%" PRIi64 "%s%" PRIi64, CMD_MOTX, tag, CMD_MOTXYS, spd);
snprintf(buf, 127, "%s%" PRIi32 "%s%" PRIi32, CMD_MOTX, tag, CMD_MOTXYS, spd);
if(!SStextcmd(buf, NULL)) return MCC_E_FAILED;
spd = Y_RS2MOTSPD(speed->Y); tag = Y_RAD2MOT(target->Y);
snprintf(buf, 127, "%s%" PRIi64 "%s%" PRIi64, CMD_MOTY, tag, CMD_MOTXYS, spd);
snprintf(buf, 127, "%s%" PRIi32 "%s%" PRIi32, CMD_MOTY, tag, CMD_MOTXYS, spd);
if(!SStextcmd(buf, NULL)) return MCC_E_FAILED;
return MCC_E_OK;
}
@@ -342,6 +342,7 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
// Convert backlash speed (rad/s to ticks per loop)
config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
// TODO - next
(void) config;
return MCC_E_OK;
}