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start configurator

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This commit is contained in:
Edward V. Emelianov 2025-02-27 22:46:51 +03:00
parent 70dec29f02
commit 943409c53e
14 changed files with 231 additions and 5 deletions
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1
LibSidServo/examples/CMakeLists.txt
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@ -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)

2
LibSidServo/examples/Readme.md
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@ -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

76
LibSidServo/examples/SSIIconf.c Normal file
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@ -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;
}

2
LibSidServo/examples/dumpmoving.c
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@ -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
};

2
LibSidServo/examples/dumpmoving_scmd.c
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@ -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
};

2
LibSidServo/examples/goto.c
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@ -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
};

2
LibSidServo/examples/scmd_traectory.c
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@ -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
};

2
LibSidServo/libsidservo.creator.user
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@ -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>

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

18
LibSidServo/main.c
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@ -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,
};

31
LibSidServo/serial.c
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@ -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;
}

1
LibSidServo/serial.h
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@ -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);

41
LibSidServo/sidservo.h
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@ -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;

55
LibSidServo/ssii.h
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@ -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);