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added short cmd, not tested

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This commit is contained in:
Edward V. Emelianov
2025-02-11 22:42:32 +03:00
parent d7df8e5bf1
commit aefeb50aab
13 changed files with 435 additions and 75 deletions
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60
LibSidServo/main.c
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@@ -84,11 +84,69 @@ static mcc_errcodes_t move2(double X, double Y){
return MCC_E_OK;
}
/**
* @brief emstop - emergency stop
* @return errcode
*/
static mcc_errcodes_t emstop(){
if(!SSemergStop()) return MCC_E_FAILED;
return MCC_E_OK;
}
/**
* @brief shortcmd - send and receive short binary command
* @param cmd (io) - command
* @return errcode
*/
static mcc_errcodes_t shortcmd(short_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
SSscmd s = {0};
s.Xmot = X_RAD2MOT(cmd->Xmot);
s.Ymot = Y_RAD2MOT(cmd->Ymot);
s.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
s.Yspeed = Y_RS2MOTSPD(cmd->Yspeed);
s.xychange = cmd->xychange;
s.XBits = cmd->XBits;
s.YBits = cmd->YBits;
if(SScmdS(&s)) return MCC_E_FAILED;
cmd->Xmot = X_MOT2RAD(s.Xmot);
cmd->Ymot = Y_MOT2RAD(s.Ymot);
cmd->Xspeed = X_MOTSPD2RS(s.Xspeed);
cmd->Yspeed = Y_MOTSPD2RS(s.Yspeed);
cmd->xychange = s.xychange;
cmd->XBits = s.XBits;
cmd->YBits = s.YBits;
return MCC_E_OK;
}
/**
* @brief shortcmd - send and receive long binary command
* @param cmd (io) - command
* @return errcode
*/
static mcc_errcodes_t longcmd(long_command_t *cmd){
if(!cmd) return MCC_E_BADFORMAT;
SSlcmd l = {0};
l.Xmot = X_RAD2MOT(cmd->Xmot);
l.Ymot = Y_RAD2MOT(cmd->Ymot);
l.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
l.Yspeed = Y_RS2MOTSPD(cmd->Yspeed);
l.Xadder = X_RS2MOTSPD(cmd->Xadder);
l.Yadder = Y_RS2MOTSPD(cmd->Yadder);
l.Xatime = S2ADDER(cmd->Xatime);
l.Yatime = S2ADDER(cmd->Yatime);
if(SScmdL(&l)) return MCC_E_FAILED;
cmd->Xmot = X_MOT2RAD(l.Xmot);
cmd->Ymot = Y_MOT2RAD(l.Ymot);
cmd->Xspeed = X_MOTSPD2RS(l.Xspeed);
cmd->Yspeed = Y_MOTSPD2RS(l.Yspeed);
cmd->Xadder = X_MOTSPD2RS(l.Xadder);
cmd->Yadder = Y_MOTSPD2RS(l.Yadder);
cmd->Xatime = ADDER2S(l.Xatime);
cmd->Yatime = ADDER2S(l.Yatime);
return MCC_E_OK;
}
// init mount class
mount_t Mount = {
.init = init,
@@ -96,4 +154,6 @@ mount_t Mount = {
.getMountData = getMD,
.moveTo = move2,
.emergStop = emstop,
.shortCmd = shortcmd,
.longCmd = longcmd,
};