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some problems fixed; model isn't tested yet

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This commit is contained in:
Edward V. Emelianov 2025-07-30 17:23:56 +03:00
parent 04ee999159
commit a96682bc12
4 changed files with 21 additions and 15 deletions
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1
LibSidServo/examples/SSIIconf.c
View File

@ -107,6 +107,7 @@ static void dumpHWconf(){
dumpaxe('Y', &HW.Yconf);
green("Y bits:\n");
dumpybits(&HW.ybits);
green("Other:\n");
printf("address=%d\n", HW.address);
DUMP(eqrate);
DUMP(eqadj);

20
LibSidServo/serial.c
View File

@ -47,7 +47,7 @@ static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER,
// encoders thread and mount thread
static pthread_t encthread, mntthread;
// max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
static struct timeval encRtmout = {0}, mntRtmout = {0};
static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 50000}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
// encoders raw data
typedef struct __attribute__((packed)){
uint8_t magick;
@ -326,8 +326,7 @@ static void *mountthread(void _U_ *u){
int errctr = 0;
uint8_t buf[2*sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
if(Conf.RunModel)
while(1){
if(Conf.RunModel) while(1){
pthread_mutex_lock(&datamutex);
// now change data
getModData(&mountdata);
@ -344,7 +343,7 @@ static void *mountthread(void _U_ *u){
while(mntfd > -1 && errctr < MAX_ERR_CTR){
// read data to status
double tgot = nanotime(), t0 = tgot;
DBG("tgot=%g", tgot);
//DBG("tgot=%g", tgot);
if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
#ifdef EBUG
DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
@ -363,7 +362,9 @@ static void *mountthread(void _U_ *u){
SSconvstat(status, &mountdata, tgot);
pthread_mutex_unlock(&datamutex);
// allow writing & getters
while(nanotime() - t0 < Conf.MountReqInterval) usleep(500);
do{
usleep(5000);
}while(nanotime() - t0 < Conf.MountReqInterval);
t0 = nanotime();
}
data_free(&cmd_getstat);
@ -511,17 +512,19 @@ void setStat(mnt_status_t Xstatus, mnt_status_t Ystatus){
// write-read without locking mutex (to be used inside other functions)
static int wr(const data_t *out, data_t *in, int needeol){
if((!out && !in) || mntfd < 0) return FALSE;
//double t0 = nanotime();
if(out){
if(out->len != (size_t)write(mntfd, out->buf, out->len)){
DBG("written bytes not equal to need");
return FALSE;
}
DBG("Send to mount %zd bytes: %s", out->len, out->buf);
//DBG("Send to mount %zd bytes: %s", out->len, out->buf);
if(needeol){
int g = write(mntfd, "\r", 1); // add EOL
(void) g;
}
}
//DBG("sent by %g", nanotime() - t0);
uint8_t buf[256];
data_t dumb = {.buf = buf, .maxlen = 256};
if(!in) in = &dumb; // even if user don't ask for answer, try to read to clear trash
@ -531,9 +534,8 @@ static int wr(const data_t *out, data_t *in, int needeol){
if(b < 0) break; // nothing to read -> go out
in->buf[in->len++] = (uint8_t) b;
}
DBG("got %zd bytes", in->len);
//DBG("Clear trashing input");
//while(getmntbyte() > -1);
//DBG("got %zd bytes by %g", in->len, nanotime() - t0);
while(getmntbyte() > -1);
return TRUE;
}

13
LibSidServo/ssii.c
View File

@ -40,11 +40,14 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
static void axestat(int32_t *prev, int32_t cur, int *nstopped, mnt_status_t *stat){
if(*prev == INT32_MAX){
*stat = MNT_STOPPED;
DBG("START");
}else if(*stat != MNT_STOPPED){
if(*prev == cur){
if(++(*nstopped) > MOTOR_STOPPED_CNT) *stat = MNT_STOPPED;
if(*prev == cur && ++(*nstopped) > MOTOR_STOPPED_CNT){
*stat = MNT_STOPPED;
DBG("AXE stopped");
}
}else if(*prev != cur){
DBG("AXE moving");
//*stat = MNT_SLEWING;
*nstopped = 0;
}
@ -101,7 +104,7 @@ int SStextcmd(const char *cmd, data_t *answer){
data_t d;
d.buf = (uint8_t*) cmd;
d.len = d.maxlen = strlen(cmd);
DBG("send %zd bytes: %s", d.len, d.buf);
//DBG("send %zd bytes: %s", d.len, d.buf);
return MountWriteRead(&d, answer);
}
@ -114,7 +117,7 @@ int SSrawcmd(const char *cmd, data_t *answer){
data_t d;
d.buf = (uint8_t*) cmd;
d.len = d.maxlen = strlen(cmd);
DBG("send %zd bytes: %s", d.len, d.buf);
//DBG("send %zd bytes: %s", d.len, d.buf);
return MountWriteReadRaw(&d, answer);
}
@ -190,7 +193,7 @@ mcc_errcodes_t updateMotorPos(){
DBG("FIX motors position to encoders");
int32_t Xpos = X_RAD2MOT(md.encXposition.val), Ypos = Y_RAD2MOT(md.encYposition.val);
if(SSsetterI(CMD_MOTXSET, Xpos) && SSsetterI(CMD_MOTYSET, Ypos)){
DBG("All OK");
DBG("All OK, Dt=%g", nanotime() - t0);
return MCC_E_OK;
}
}else{

2
LibSidServo/ssii.h
View File

@ -173,7 +173,7 @@
#define SITECH_LOOP_FREQUENCY (1953.)
// amount of consequent same coordinates to detect stop
#define MOTOR_STOPPED_CNT (20)
#define MOTOR_STOPPED_CNT (4)
// TODO: take it from settings?
// steps per revolution (SSI - x4 - for SSI)