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This commit is contained in:
Edward V. Emelianov
2025-03-02 22:50:18 +03:00
parent dfeca4c923
commit 9519202ce4
4 changed files with 132 additions and 35 deletions
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127
LibSidServo/main.c
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@@ -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,
};