start configurator

LibSidServo/examples/CMakeLists.txt

@@ -10,3 +10,4 @@ add_executable(dump dumpmoving.c dump.c conf.c)
 add_executable(dump_s dumpmoving_scmd.c dump.c conf.c)
 add_executable(dumpswing dumpswing.c dump.c conf.c)
 add_executable(traectory_s scmd_traectory.c dump.c traectories.c conf.c)
+add_executable(SSIIconf SSIIconf.c conf.c)

LibSidServo/examples/Readme.md

@@ -24,3 +24,5 @@ Some examples of usage of libsidservo
 
 *scmd_traectory.c* (`traectory_s`) - try to move around given traectory using "short" binary commands.
 
+*SSIIconf.c* (`SSIIconf`) - read/write hardware configuration of controller
+

LibSidServo/examples/SSIIconf.c

@@ -0,0 +1,76 @@
+/*
+ * 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/>.
+ */
+
+#include <stdio.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+typedef struct{
+    int help;
+    int helpargs;
+    int writeconf;
+    char *conffile;
+    char *hwconffile;
+} parameters;
+
+static hardware_configuration_t HW = {0};
+
+static parameters G = {0};
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"help-opts",   NO_ARGS,    NULL,   'H',    arg_int,    APTR(&G.helpargs),  "configuration help"},
+    {"serconf",     NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "serial configuration file name"},
+    {"hwconf",      NEED_ARG,   NULL,   'i',    arg_string, APTR(&G.hwconffile),"SSII configuration file name"},
+    {"writeconf",   NO_ARGS,    NULL,   0,      arg_int,    APTR(&G.writeconf), "write configuration (BE CAREFUL!)"},
+    end_option
+};
+
+static sl_option_t confopts[] = {
+    {"Xaccel",      NEED_ARG,   NULL,   0,      arg_double, APTR(&HW.Xconf.accel),  "X Default Acceleration, rad/s^2"},
+    {"Yaccel",      NEED_ARG,   NULL,   0,      arg_double, APTR(&HW.Yconf.accel),  "Y Default Acceleration, rad/s^2"},
+    end_option
+};
+
+int main(int argc, char** argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help)
+        sl_showhelp(-1, cmdlnopts);
+    if(G.helpargs)
+        sl_showhelp(-1, confopts);
+    conf_t *sconf = readServoConf(G.conffile);
+    if(!sconf){
+        dumpConf();
+        return 1;
+    }
+    if(MCC_E_OK != Mount.init(sconf)) ERRX("Can't init mount");
+    if(MCC_E_OK != Mount.getHWconfig(&HW)) ERRX("Can't read configuration");
+    char *c = sl_print_opts(confopts, TRUE);
+    green("Got configuration:\n");
+    printf("%s\n", c);
+    FREE(c);
+    if(G.hwconffile && G.writeconf){
+        ;
+    }
+    Mount.quit();
+    return 0;
+}

LibSidServo/examples/dumpmoving.c

@@ -49,7 +49,7 @@ static sl_option_t cmdlnopts[] = {
     {"logfile",     NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   "log file name"},
     {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
     {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
-    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
     end_option
 };
 

LibSidServo/examples/dumpmoving_scmd.c

@@ -57,7 +57,7 @@ static sl_option_t cmdlnopts[] = {
     {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
     {"reqinterval", NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.reqint),    "mount requests interval (default: 0.1)"},
     {"axis",        NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.axis),      "axis to move (X, Y or B for both)"},
-    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
     {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
     end_option
 };

LibSidServo/examples/goto.c

@@ -53,7 +53,7 @@ static sl_option_t cmdlnopts[] = {
     {"output",      NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
     {"wait",        NO_ARGS,    NULL,   'w',    arg_int,    APTR(&G.wait),      "wait until mowing stopped"},
     {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
-    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
     end_option
 };
 

LibSidServo/examples/scmd_traectory.c

@@ -66,7 +66,7 @@ static sl_option_t cmdlnopts[] = {
     {"tmax",        NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.tmax),      "maximal duration time of emulation (default: 300 seconds)"},
     {"x0",          NEED_ARG,   NULL,   '0',    arg_double, APTR(&G.X0),        "starting X-coordinate of traectory (default: 10 degrees)"},
     {"y0",          NEED_ARG,   NULL,   '1',    arg_double, APTR(&G.Y0),        "starting Y-coordinate of traectory (default: 10 degrees)"},
-    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
     end_option
 };
 

LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 15.0.1, 2025-02-25T23:31:43. -->
+<!-- Written by QtCreator 15.0.1, 2025-02-27T22:45:06. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/libsidservo.files

@@ -1,5 +1,6 @@
 CMakeLists.txt
 dbg.h
+examples/SSIIconf.c
 examples/conf.c
 examples/conf.h
 examples/dump.c

LibSidServo/main.c

@@ -230,6 +230,23 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
     return MCC_E_OK;
 }
 
+mcc_errcodes_t get_hwconf(hardware_configuration_t *c){
+    if(!c) return MCC_E_BADFORMAT;
+    SSconfig conf;
+    if(!cmdC(&conf, FALSE)) return MCC_E_FAILED;
+    // and bored transformations
+    DBG("Xacc=%u", conf.Xconf.accel);
+    DBG("Yacc=%u", conf.Yconf.accel);
+    c->Xconf.accel = X_MOTACC2RS(conf.Xconf.accel);
+    DBG("cacc: %g", c->Xconf.accel);
+    c->Xconf.backlash = conf.Xconf.backlash;
+    // ...
+    c->Yconf.accel = X_MOTACC2RS(conf.Yconf.accel);
+    c->Xconf.backlash = conf.Xconf.backlash;
+    // ...
+    return MCC_E_OK;
+}
+
 // init mount class
 mount_t Mount = {
     .init = init,
@@ -242,4 +259,5 @@ mount_t Mount = {
     .stop = stop,
     .shortCmd = shortcmd,
     .longCmd = longcmd,
+    .getHWconfig = get_hwconf,
 };

LibSidServo/serial.c

@@ -478,3 +478,34 @@ int cmdS(SSscmd *cmd){
 int cmdL(SSlcmd *cmd){
     return bincmd((uint8_t *)cmd, sizeof(SSlcmd));
 }
+// rw == 1 to write, 0 to read
+int cmdC(SSconfig *conf, int rw){
+    static data_t *wcmd = NULL, *rcmd = NULL;
+    int ret = FALSE;
+    // dummy buffer to clear trash in input
+    char ans[300];
+    data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
+    if(!wcmd) wcmd = cmd2dat(CMD_PROGFLASH);
+    if(!rcmd) rcmd = cmd2dat(CMD_DUMPFLASH);
+    pthread_mutex_lock(&mntmutex);
+    if(rw){ // write
+        if(!wr(wcmd, &a, 1)) goto rtn;
+    }else{ // read
+        data_t d;
+        d.buf = (uint8_t *) conf;
+        d.len = 0; d.maxlen = sizeof(SSconfig);
+        ret = wr(rcmd, &d, 1);
+        DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
+        if(d.len != d.maxlen) return FALSE;
+        // simplest checksum
+        uint16_t sum = 0;
+        for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
+        if(sum != conf->checksum){
+            DBG("got sum: %u, need: %u", conf->checksum, sum);
+            return FALSE;
+        }
+    }
+rtn:
+    pthread_mutex_unlock(&mntmutex);
+    return ret;
+}

LibSidServo/serial.h

@@ -39,3 +39,4 @@ int MountWriteRead(const data_t *out, data_t *in);
 int MountWriteReadRaw(const data_t *out, data_t *in);
 int cmdS(SSscmd *cmd);
 int cmdL(SSlcmd *cmd);
+int cmdC(SSconfig *conf, int rw);

LibSidServo/sidservo.h

@@ -129,6 +129,46 @@ typedef struct{
     double Yatime;      // 28
 } long_command_t; // long command
 
+// hardware axe configuration
+typedef struct{
+    double accel;       // Default Acceleration, rad/s^2
+    double backlash;    // Backlash (???)
+    double errlimit;    // Error Limit, rad
+    double propgain;    // Proportional Gain (???)
+    double intgain;     // Integral Gain (???)
+    double derivgain;   // Derivative Gain (???)
+    double outplimit;   // Output Limit, percent (0..100)
+    double currlimit;   // Current Limit (A)
+    double intlimit;    // Integral Limit (???)
+} __attribute__((packed)) axe_config_t;
+
+// hardware configuration
+typedef struct{
+    axe_config_t Xconf;
+    xbits_t xbits;
+    axe_config_t Yconf;
+    ybits_t ybits;
+    uint8_t address;
+    double eqrate;      // Equatorial Rate (???)
+    double eqadj;       // Equatorial UpDown adjust (???)
+    double trackgoal;   // Tracking Platform Goal (???)
+    double latitude;    // Latitude, rad
+    uint32_t Ysetpr;    // Azm Scope Encoder Ticks Per Rev
+    uint32_t Xsetpr;    // Alt Scope Encoder Ticks Per Rev
+    uint32_t Ymetpr;    // Azm Motor Ticks Per Rev
+    uint32_t Xmetpr;    // Alt Motor Ticks Per Rev
+    double Xslewrate;   // Alt/Dec Slew Rate (rad/s)
+    double Yslewrate;   // Azm/RA Slew Rate (rad/s)
+    double Xpanrate;    // Alt/Dec Pan Rate (rad/s)
+    double Ypanrate;    // Azm/RA Pan Rate (rad/s)
+    double Xguiderate;  // Alt/Dec Guide Rate (rad/s)
+    double Yguiderate;  // Azm/RA Guide Rate (rad/s)
+    uint32_t baudrate;  // Baud Rate (baud)
+    double locsdeg;     // Local Search Degrees (rad)
+    double locsspeed;   // Local Search Speed (rad/s)
+    double backlspd;    // Backlash speed (???)
+} hardware_configuration_t;
+
 // mount class
 typedef struct{
     mcc_errcodes_t  (*init)(conf_t *c); // init device
@@ -141,6 +181,7 @@ typedef struct{
     mcc_errcodes_t  (*emergStop)(); // emergency stop
     mcc_errcodes_t  (*shortCmd)(short_command_t *cmd); // send/get short command
     mcc_errcodes_t  (*longCmd)(long_command_t *cmd); // send/get long command
+    mcc_errcodes_t  (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
 } mount_t;
 
 extern mount_t Mount;

LibSidServo/ssii.h

@@ -185,6 +185,12 @@
 #define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r)*65536./1953.))
 #define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n)/65536.*1953.)
 #define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r)*65536./1953.))
+// motor acceleration -//-
+#define X_MOTACC2RS(n)  (X_MOT2RAD(n)/65536.*1953.*1953.)
+#define X_RS2MOTACC(r)  ((int32_t)(X_RAD2MOT(r)*65536./1953./1953.))
+#define Y_MOTACC2RS(n)  (Y_MOT2RAD(n)/65536.*1953.*1953.)
+#define Y_RS2MOTACC(r)  ((int32_t)(Y_RAD2MOT(r)*65536./1953./1953.))
+
 // adder time to seconds vice versa
 #define ADDER2S(a)  ((a)*1953.)
 #define S2ADDER(s)  ((s)/1953.)
@@ -247,6 +253,55 @@ typedef struct{
     uint16_t checksum;  // 32
 } __attribute__((packed)) SSlcmd; // long command
 
+typedef struct{
+    uint32_t accel;     // Default Acceleration (0..3900)
+    uint32_t backlash;  // Backlash (???)
+    uint16_t errlimit;  // Error Limit (0..32767)
+    uint16_t propgain;  // Proportional Gain (0..32767)
+    uint16_t intgain;   // Integral Gain (0..32767)
+    uint16_t derivgain; // Derivative Gain (0..32767)
+    uint16_t outplimit; // Output Limit, 0xFF = 100.0 (0..255)
+    uint16_t currlimit; // Current Limit * 100 (0..240)
+    uint16_t intlimit;  // Integral Limit (0..24000)
+} __attribute__((packed)) AxeConfig;
+
+typedef struct{
+    AxeConfig Xconf;
+    xbits_t xbits;
+    uint8_t unused0;
+    AxeConfig Yconf;
+    ybits_t ybits;
+    uint8_t unused1;
+    uint8_t address;
+    uint8_t unused2;
+    uint32_t eqrate;    // Equatorial Rate (platform?) (???)
+    int32_t eqadj;      // Equatorial UpDown adjust (???)
+    uint32_t trackgoal; // Tracking Platform Goal (???)
+    uint16_t latitude;  // Latitude * 100, MSB FIRST!!
+    uint32_t Ysetpr;    // Azm Scope Encoder Ticks Per Rev, MSB FIRST!!
+    uint32_t Xsetpr;    // Alt Scope Encoder Ticks Per Rev, MSB FIRST!!
+    uint32_t Ymetpr;    // Azm Motor Ticks Per Rev, MSB FIRST!!
+    uint32_t Xmetpr;    // Alt Motor Ticks Per Rev, MSB FIRST!!
+    int32_t Xslewrate;  // Alt/Dec Slew Rate (rates are negative in "through the pole" mode!!!)
+    int32_t Yslewrate;  // Azm/RA Slew Rate
+    int32_t Xpanrate;   // Alt/Dec Pan Rate
+    int32_t Ypanrate;   // Azm/RA Pan Rate
+    int32_t Xguiderate; // Alt/Dec Guide Rate
+    int32_t Yguiderate; // Azm/RA Guide Rate
+    uint8_t unknown0;   // R/A PEC Auto Sync Enable (if low bit = 1), or PicServo Comm Timeout??
+    uint8_t unused3;
+    uint8_t baudrate;   // Baud Rate??
+    uint8_t unused4;
+    uint8_t specmode;   // 1 = Enable Argo Navis, 2 = Enable Sky Commander
+    uint8_t unused5;
+    uint32_t locsdeg;   // Local Search Degrees * 100
+    uint32_t locsspeed; // Local Search Speed, arcsec per sec (???)
+    uint32_t backlspd;  // Backlash speed
+    uint32_t pecticks;  // RA/Azm PEC Ticks
+    uint16_t unused6;
+    uint16_t checksum;
+} __attribute__((packed)) SSconfig;
+
 uint16_t SScalcChecksum(uint8_t *buf, int len);
 void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat);
 int SStextcmd(const char *cmd, data_t *answer);