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This commit is contained in:
Timur A. Fatkhullin
2025-07-24 18:55:59 +03:00
parent 7e1709727a
commit 961c72f17f
8 changed files with 562 additions and 186 deletions
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43
cxx/asibfm700_hardware.cpp
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@@ -62,12 +62,40 @@ const AsibFM700HardwareErrorCategory& AsibFM700HardwareErrorCategory::get()
/* constructors and destructor */
AsibFM700Hardware::AsibFM700Hardware(const hardware_config_t& conf) : _hardwareConfig(conf)
AsibFM700Hardware::AsibFM700Hardware(const hardware_config_t& conf)
: _hardwareConfig(conf), _sideralRate2(_hardwareConfig.hwConfig.eqrate)
{
_hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
_hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
_hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
_hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
_sideralRate2 *= _sideralRate2;
_sideralRateEps2 = 0.01; // 1%
// start state polling
_statePollingThread = std::jthread([this](std::stop_token stoken) {
mountdata_t data;
while (true) {
if (stoken.stop_requested()) {
return;
}
error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
// are both motors stopped?
bool stop_motors =
(data.extradata.ExtraBits & XMOTOR_STOP_BIT) && (data.extradata.ExtraBits & YMOTOR_STOP_BIT);
if (stop_motors) {
_state = hw_state_t::HW_STATE_STOP;
}
}
}
});
}
// AsibFM700Hardware::AsibFM700Hardware(AsibFM700Hardware&& other)
@@ -102,6 +130,15 @@ AsibFM700Hardware::error_t AsibFM700Hardware::getState(AsibFM700Hardware::hw_sta
state = hw_state_t::HW_STATE_STOP;
return AsibFM700HardwareErrorCode::ERROR_OK;
}
// compute current speed
auto rate2 = data.encXspeed.val * data.encXspeed.val + data.encYspeed.val * data.encYspeed.val;
auto ratio2 = rate2 / _sideralRate2;
if (ratio2 <= _sideralRateEps2) { // tracking
state = hw_state_t::HW_STATE_TRACK;
} else {
state = hw_state_t::HW_STATE_SLEW;
}
}
return err;
@@ -115,6 +152,10 @@ AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos
// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
coordpair_t hw_pos{.X = pos.y, .Y = pos.x};
if (!pos.flags.slewNguide) {
return static_cast<AsibFM700HardwareErrorCode>(Mount.slewTo(&hw_pos, pos.flags));
}
switch (pos.state) {
case hw_state_t::HW_STATE_SLEW: // slew mount
err = static_cast<AsibFM700HardwareErrorCode>(Mount.slewTo(&hw_pos, pos.flags));