...
This commit is contained in:
parent
dfeca4c923
commit
9519202ce4
@ -1,6 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!DOCTYPE QtCreatorProject>
|
||||
<!-- Written by QtCreator 15.0.1, 2025-02-27T22:45:06. -->
|
||||
<!-- Written by QtCreator 15.0.1, 2025-03-02T22:49:47. -->
|
||||
<qtcreator>
|
||||
<data>
|
||||
<variable>EnvironmentId</variable>
|
||||
|
||||
@ -230,20 +230,118 @@ 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;
|
||||
// ...
|
||||
static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
|
||||
if(!hwConfig) return MCC_E_BADFORMAT;
|
||||
SSconfig config;
|
||||
if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
|
||||
// Convert acceleration (ticks per loop^2 to rad/s^2)
|
||||
hwConfig->Xconf.accel = X_MOTACC2RS(config.Xconf.accel);
|
||||
hwConfig->Yconf.accel = Y_MOTACC2RS(config.Yconf.accel);
|
||||
// Convert backlash (ticks to radians)
|
||||
hwConfig->Xconf.backlash = X_MOT2RAD(config.Xconf.backlash);
|
||||
hwConfig->Yconf.backlash = Y_MOT2RAD(config.Yconf.backlash);
|
||||
// Convert error limit (ticks to radians)
|
||||
hwConfig->Xconf.errlimit = X_MOT2RAD(config.Xconf.errlimit);
|
||||
hwConfig->Yconf.errlimit = Y_MOT2RAD(config.Yconf.errlimit);
|
||||
// Proportional, integral, and derivative gains are unitless, so no conversion needed
|
||||
hwConfig->Xconf.propgain = (double)config.Xconf.propgain;
|
||||
hwConfig->Yconf.propgain = (double)config.Yconf.propgain;
|
||||
hwConfig->Xconf.intgain = (double)config.Xconf.intgain;
|
||||
hwConfig->Yconf.intgain = (double)config.Yconf.intgain;
|
||||
hwConfig->Xconf.derivgain = (double)config.Xconf.derivgain;
|
||||
hwConfig->Yconf.derivgain = (double)config.Yconf.derivgain;
|
||||
// Output limit is a percentage (0-100)
|
||||
hwConfig->Xconf.outplimit = (double)config.Xconf.outplimit / 255.0 * 100.0;
|
||||
hwConfig->Yconf.outplimit = (double)config.Yconf.outplimit / 255.0 * 100.0;
|
||||
// Current limit in amps
|
||||
hwConfig->Xconf.currlimit = (double)config.Xconf.currlimit / 100.0;
|
||||
hwConfig->Yconf.currlimit = (double)config.Yconf.currlimit / 100.0;
|
||||
// Integral limit is unitless
|
||||
hwConfig->Xconf.intlimit = (double)config.Xconf.intlimit;
|
||||
hwConfig->Yconf.intlimit = (double)config.Yconf.intlimit;
|
||||
// Copy XBits and YBits (no conversion needed)
|
||||
hwConfig->xbits = config.xbits;
|
||||
hwConfig->ybits = config.ybits;
|
||||
// Copy address
|
||||
hwConfig->address = config.address;
|
||||
|
||||
// TODO: What to do with eqrate, eqadj and trackgoal?
|
||||
|
||||
// Convert latitude (degrees * 100 to radians)
|
||||
hwConfig->latitude = (double)config.latitude / 100.0 * M_PI / 180.0;
|
||||
// Copy ticks per revolution
|
||||
hwConfig->Xsetpr = config.Xsetpr;
|
||||
hwConfig->Ysetpr = config.Ysetpr;
|
||||
hwConfig->Xmetpr = config.Xmetpr;
|
||||
hwConfig->Ymetpr = config.Ymetpr;
|
||||
// Convert slew rates (ticks per loop to rad/s)
|
||||
hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
|
||||
hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
|
||||
// Convert pan rates (ticks per loop to rad/s)
|
||||
hwConfig->Xpanrate = X_MOTSPD2RS(config.Xpanrate);
|
||||
hwConfig->Ypanrate = Y_MOTSPD2RS(config.Ypanrate);
|
||||
// Convert guide rates (ticks per loop to rad/s)
|
||||
hwConfig->Xguiderate = X_MOTSPD2RS(config.Xguiderate);
|
||||
hwConfig->Yguiderate = Y_MOTSPD2RS(config.Yguiderate);
|
||||
// copy baudrate
|
||||
hwConfig->baudrate = (uint32_t) config.baudrate;
|
||||
// Convert local search degrees (degrees * 100 to radians)
|
||||
hwConfig->locsdeg = (double)config.locsdeg / 100.0 * M_PI / 180.0;
|
||||
// Convert local search speed (arcsec per second to rad/s)
|
||||
hwConfig->locsspeed = (double)config.locsspeed * M_PI / (180.0 * 3600.0);
|
||||
// Convert backlash speed (ticks per loop to rad/s)
|
||||
hwConfig->backlspd = X_MOTSPD2RS(config.backlspd);
|
||||
return MCC_E_OK;
|
||||
}
|
||||
|
||||
static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
|
||||
SSconfig config;
|
||||
// Convert acceleration (rad/s^2 to ticks per loop^2)
|
||||
config.Xconf.accel = X_RS2MOTACC(hwConfig->Xconf.accel);
|
||||
config.Yconf.accel = Y_RS2MOTACC(hwConfig->Yconf.accel);
|
||||
// Convert backlash (radians to ticks)
|
||||
config.Xconf.backlash = X_RAD2MOT(hwConfig->Xconf.backlash);
|
||||
config.Yconf.backlash = Y_RAD2MOT(hwConfig->Yconf.backlash);
|
||||
// Convert error limit (radians to ticks)
|
||||
config.Xconf.errlimit = X_RAD2MOT(hwConfig->Xconf.errlimit);
|
||||
config.Yconf.errlimit = Y_RAD2MOT(hwConfig->Yconf.errlimit);
|
||||
// Proportional, integral, and derivative gains are unitless, so no conversion needed
|
||||
config.Xconf.propgain = (uint16_t)hwConfig->Xconf.propgain;
|
||||
config.Yconf.propgain = (uint16_t)hwConfig->Yconf.propgain;
|
||||
config.Xconf.intgain = (uint16_t)hwConfig->Xconf.intgain;
|
||||
config.Yconf.intgain = (uint16_t)hwConfig->Yconf.intgain;
|
||||
config.Xconf.derivgain = (uint16_t)hwConfig->Xconf.derivgain;
|
||||
config.Yconf.derivgain = (uint16_t)hwConfig->Yconf.derivgain;
|
||||
// Output limit is a percentage (0-100), so convert back to 0-255
|
||||
config.Xconf.outplimit = (uint8_t)(hwConfig->Xconf.outplimit / 100.0 * 255.0);
|
||||
config.Yconf.outplimit = (uint8_t)(hwConfig->Yconf.outplimit / 100.0 * 255.0);
|
||||
// Current limit is in amps (convert back to *100)
|
||||
config.Xconf.currlimit = (uint16_t)(hwConfig->Xconf.currlimit * 100.0);
|
||||
config.Yconf.currlimit = (uint16_t)(hwConfig->Yconf.currlimit * 100.0);
|
||||
// Integral limit is unitless, so no conversion needed
|
||||
config.Xconf.intlimit = (uint16_t)hwConfig->Xconf.intlimit;
|
||||
config.Yconf.intlimit = (uint16_t)hwConfig->Yconf.intlimit;
|
||||
// Copy XBits and YBits (no conversion needed)
|
||||
config.xbits = hwConfig->xbits;
|
||||
config.ybits = hwConfig->ybits;
|
||||
// Convert latitude (radians to degrees * 100)
|
||||
config.latitude = (uint16_t)(hwConfig->latitude * 180.0 / M_PI * 100.0);
|
||||
// Convert slew rates (rad/s to ticks per loop)
|
||||
config.Xslewrate = X_RS2MOTSPD(hwConfig->Xslewrate);
|
||||
config.Yslewrate = Y_RS2MOTSPD(hwConfig->Yslewrate);
|
||||
// Convert pan rates (rad/s to ticks per loop)
|
||||
config.Xpanrate = X_RS2MOTSPD(hwConfig->Xpanrate);
|
||||
config.Ypanrate = Y_RS2MOTSPD(hwConfig->Ypanrate);
|
||||
// Convert guide rates (rad/s to ticks per loop)
|
||||
config.Xguiderate = X_RS2MOTSPD(hwConfig->Xguiderate);
|
||||
config.Yguiderate = Y_RS2MOTSPD(hwConfig->Yguiderate);
|
||||
// Convert local search degrees (radians to degrees * 100)
|
||||
config.locsdeg = (uint32_t)(hwConfig->locsdeg * 180.0 / M_PI * 100.0);
|
||||
// Convert local search speed (rad/s to arcsec per second)
|
||||
config.locsspeed = (uint32_t)(hwConfig->locsspeed * 180.0 * 3600.0 / M_PI);
|
||||
// Convert backlash speed (rad/s to ticks per loop)
|
||||
config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
|
||||
// TODO - next
|
||||
return MCC_E_OK;
|
||||
}
|
||||
|
||||
@ -260,4 +358,5 @@ mount_t Mount = {
|
||||
.shortCmd = shortcmd,
|
||||
.longCmd = longcmd,
|
||||
.getHWconfig = get_hwconf,
|
||||
.saveHWconfig = write_hwconf,
|
||||
};
|
||||
|
||||
@ -98,10 +98,6 @@ typedef struct{
|
||||
uint32_t millis;
|
||||
double temperature;
|
||||
double voltage;
|
||||
int32_t XmotRaw;
|
||||
int32_t YmotRaw;
|
||||
int32_t XencRaw;
|
||||
int32_t YencRaw;
|
||||
} mountdata_t;
|
||||
|
||||
typedef struct{
|
||||
@ -166,7 +162,7 @@ typedef struct{
|
||||
uint32_t baudrate; // Baud Rate (baud)
|
||||
double locsdeg; // Local Search Degrees (rad)
|
||||
double locsspeed; // Local Search Speed (rad/s)
|
||||
double backlspd; // Backlash speed (???)
|
||||
double backlspd; // Backlash speed (rad/s)
|
||||
} hardware_configuration_t;
|
||||
|
||||
// mount class
|
||||
@ -182,6 +178,7 @@ typedef struct{
|
||||
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
|
||||
mcc_errcodes_t (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
|
||||
} mount_t;
|
||||
|
||||
extern mount_t Mount;
|
||||
|
||||
@ -165,7 +165,8 @@
|
||||
// X,Y - motor, XZ,YZ - encoder, XC,YC - current*100, V - voltage*10, T - temp (F), XA,YA - mode (A[uto]/M[anual]), K - handpad status bits
|
||||
#define CMD_GETSTATTEXT "\r"
|
||||
|
||||
|
||||
// Loop freq
|
||||
#define SITECH_LOOP_FREQUENCY (1953.)
|
||||
|
||||
// steps per revolution
|
||||
#define X_MOT_STEPSPERREV (3325952.)
|
||||
@ -176,24 +177,24 @@
|
||||
#define Y_SPEED_MAX (0.13963)
|
||||
|
||||
// motor position to radians and back
|
||||
#define X_MOT2RAD(n) (2.*M_PI * ((double)n) / X_MOT_STEPSPERREV)
|
||||
#define Y_MOT2RAD(n) (2.*M_PI * ((double)n) / Y_MOT_STEPSPERREV)
|
||||
#define X_RAD2MOT(r) ((int32_t)((r) / 2./M_PI * X_MOT_STEPSPERREV))
|
||||
#define Y_RAD2MOT(r) ((int32_t)((r) / 2./M_PI * Y_MOT_STEPSPERREV))
|
||||
#define X_MOT2RAD(n) (2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
|
||||
#define Y_MOT2RAD(n) (2. * M_PI * ((double)(n)) / Y_MOT_STEPSPERREV)
|
||||
#define X_RAD2MOT(r) ((int32_t)((r) / (2. * M_PI) * X_MOT_STEPSPERREV))
|
||||
#define Y_RAD2MOT(r) ((int32_t)((r) / (2. * M_PI) * Y_MOT_STEPSPERREV))
|
||||
// motor speed in rad/s and back
|
||||
#define X_MOTSPD2RS(n) (X_MOT2RAD(n)/65536.*1953.)
|
||||
#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.))
|
||||
#define X_MOTSPD2RS(n) (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
|
||||
#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
|
||||
#define X_RS2MOTSPD(r) ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
|
||||
#define Y_RS2MOTSPD(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
|
||||
// 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.))
|
||||
#define X_MOTACC2RS(n) (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
|
||||
#define Y_MOTACC2RS(n) (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
|
||||
#define X_RS2MOTACC(r) ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
|
||||
#define Y_RS2MOTACC(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
|
||||
|
||||
// adder time to seconds vice versa
|
||||
#define ADDER2S(a) ((a)*1953.)
|
||||
#define S2ADDER(s) ((s)/1953.)
|
||||
#define ADDER2S(a) ((a) * SITECH_LOOP_FREQUENCY)
|
||||
#define S2ADDER(s) ((s) / SITECH_LOOP_FREQUENCY)
|
||||
|
||||
// encoder per revolution
|
||||
#define X_ENC_STEPSPERREV (67108864.)
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user