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add speed + a lot of refactoring

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This commit is contained in:
Edward V. Emelianov
2025-07-22 23:52:08 +03:00
parent fc943abe03
commit b0421972d1
22 changed files with 513 additions and 161 deletions
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108
LibSidServo/serial.c
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@@ -37,13 +37,15 @@
static int encfd[2] = {-1, -1}, mntfd = -1;
// main mount data
static mountdata_t mountdata = {0};
// last encoders time and last encoders data - for speed measurement
static coordval_t lastXenc = {0}, lastYenc = {0};
// mutexes for RW operations with mount device and data
static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER,
datamutex = 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
// max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
static struct timeval encRtmout = {0}, mntRtmout = {0};
// encoders raw data
typedef struct __attribute__((packed)){
@@ -64,7 +66,13 @@ double dtime(){
t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
return t;
}
#if 0
double tv2d(struct timeval *tv){
if(!tv) return 0.;
double t = tv->tv_sec + ((double)tv->tv_usec) / 1e6;
return t;
}
#endif
#if 0
// init start time
static void gttime(){
@@ -75,12 +83,26 @@ static void gttime(){
}
#endif
// calculate current X/Y speeds
static void getXspeed(double t){
mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
mountdata.encXspeed.t = (lastXenc.t + t) / 2.;
lastXenc.val = mountdata.encXposition.val;
lastXenc.t = t;
}
static void getYspeed(double t){
mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
mountdata.encYspeed.t = (lastYenc.t + t) / 2.;
lastYenc.val = mountdata.encYposition.val;
lastYenc.t = t;
}
/**
* @brief parse_encbuf - check encoder buffer (for separate encoder) and fill fresh data
* @brief parse_encbuf - check encoder buffer (for encoder data based on SSII proto) and fill fresh data
* @param databuf - input buffer with 13 bytes of data
* @param nexttime - time when databuf[0] got
* @param t - time when databuf[0] got
*/
static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
enc_t *edata = (enc_t*) databuf;
/*
#ifdef EBUG
@@ -115,9 +137,13 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
return;
}
pthread_mutex_lock(&datamutex);
mountdata.encposition.X = X_ENC2RAD(edata->encX);
mountdata.encposition.Y = Y_ENC2RAD(edata->encY);
mountdata.encposition.msrtime = *tv;
mountdata.encXposition.val = X_ENC2RAD(edata->encX);
mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
mountdata.encXposition.t = t;
mountdata.encYposition.t = t;
if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed(t);
if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed(t);
pthread_mutex_unlock(&datamutex);
//DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
}
@@ -126,10 +152,10 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
* @brief getencval - get uint64_t data from encoder
* @param fd - encoder fd
* @param val - value read
* @param tv - measurement time
* @param t - measurement time
* @return amount of data read or 0 if problem
*/
static int getencval(int fd, double *val, struct timeval *tv){
static int getencval(int fd, double *val, double *t){
if(fd < 0) return FALSE;
char buf[128];
int got = 0, Lmax = 127;
@@ -152,7 +178,7 @@ static int getencval(int fd, double *val, struct timeval *tv){
buf[got] = 0;
} else continue;
if(strchr(buf, '\n')) break;
}while(Lmax && dtime() - t0 > Conf.EncoderReqInterval);
}while(Lmax && dtime() - t0 < Conf.EncoderReqInterval);
if(got == 0) return 0; // WTF?
char *estr = strrchr(buf, '\n');
if(!estr) return 0;
@@ -167,7 +193,7 @@ static int getencval(int fd, double *val, struct timeval *tv){
return 0; // wrong number
}
if(val) *val = (double) data;
if(tv) gettimeofday(tv, NULL);
if(t) *t = t0;
return got;
}
// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
@@ -175,11 +201,10 @@ static int getencbyte(){
if(encfd[0] < 0) return -1;
uint8_t byte = 0;
fd_set rfds;
struct timeval tv;
do{
FD_ZERO(&rfds);
FD_SET(encfd[0], &rfds);
tv = encRtmout;
struct timeval tv = encRtmout;
int retval = select(encfd[0] + 1, &rfds, NULL, NULL, &tv);
if(!retval) break;
if(retval < 0){
@@ -199,7 +224,6 @@ static int getmntbyte(){
if(mntfd < 0) return -1;
uint8_t byte;
fd_set rfds;
struct timeval tv;
/* ssize_t l = read(mntfd, &byte, 1);
//DBG("MNT read=%zd byte=0x%X", l, byte);
if(l == 0) return -1;
@@ -208,7 +232,7 @@ static int getmntbyte(){
do{
FD_ZERO(&rfds);
FD_SET(mntfd, &rfds);
tv = mntRtmout;
struct timeval tv = mntRtmout;
int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
if(retval < 0){
if(errno == EINTR) continue;
@@ -231,7 +255,7 @@ static void *encoderthread1(void _U_ *u){
if(Conf.SepEncoder != 1) return NULL;
uint8_t databuf[ENC_DATALEN];
int wridx = 0, errctr = 0;
struct timeval tv;
double t = 0.;
while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
int b = getencbyte();
if(b == -2) ++errctr;
@@ -242,12 +266,12 @@ static void *encoderthread1(void _U_ *u){
if((uint8_t)b == ENC_MAGICK){
// DBG("Got magic -> start filling packet");
databuf[wridx++] = (uint8_t) b;
gettimeofday(&tv, NULL);
t = dtime();
}
continue;
}else databuf[wridx++] = (uint8_t) b;
if(wridx == ENC_DATALEN){
parse_encbuf(databuf, &tv);
parse_encbuf(databuf, t);
wridx = 0;
}
}
@@ -258,30 +282,47 @@ static void *encoderthread1(void _U_ *u){
return NULL;
}
// main encoder thread for separate encoders as USB devices /dev/encoder_X0 and /dev/encoder_Y0
static void *encoderthread2(void _U_ *u){
if(Conf.SepEncoder != 2) return NULL;
DBG("Thread started");
int errctr = 0;
double t0 = dtime();
const char *req = "next\n";
int need2ask = 0; // need or not to ask encoder for new data
while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
if(5 != write(encfd[0], req, 5)) ++errctr;
if(5 != write(encfd[1], req, 5)) ++errctr;
double v;
struct timeval tv;
if(getencval(encfd[0], &v, &tv)){
mountdata.encposition.X = X_ENC2RAD(v);
mountdata.encposition.msrtime = tv;
if(getencval(encfd[1], &v, &tv)){
mountdata.encposition.Y = Y_ENC2RAD(v);
mountdata.encposition.msrtime = tv;
if(need2ask){
if(5 != write(encfd[0], req, 5)) { ++errctr; continue; }
else if(5 != write(encfd[1], req, 5)) { ++errctr; continue; }
}
double v, t;
if(getencval(encfd[0], &v, &t)){
mountdata.encXposition.val = X_ENC2RAD(v);
//DBG("encX(%g) = %g", t, mountdata.encXposition.val);
mountdata.encXposition.t = t;
if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed(t);
if(getencval(encfd[1], &v, &t)){
mountdata.encYposition.val = Y_ENC2RAD(v);
//DBG("encY(%g) = %g", t, mountdata.encYposition.val);
mountdata.encYposition.t = t;
if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed(t);
errctr = 0;
} else ++errctr;
} else ++errctr;
need2ask = 0;
} else {
if(need2ask) ++errctr;
else need2ask = 1;
continue;
}
} else {
if(need2ask) ++errctr;
else need2ask = 1;
continue;
}
while(dtime() - t0 < Conf.EncoderReqInterval){ usleep(10); }
//DBG("DT=%g (RI=%g)", dtime()-t0, Conf.EncoderReqInterval);
t0 = dtime();
}
DBG("ERRCTR=%d", errctr);
for(int i = 0; i < 2; ++i){
if(encfd[i] > -1){
close(encfd[i]);
@@ -325,8 +366,7 @@ static void *mountthread(void _U_ *u){
*/
while(mntfd > -1 && errctr < MAX_ERR_CTR){
// read data to status
struct timeval tgot;
if(0 != gettimeofday(&tgot, NULL)) continue;
double tgot = dtime();
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);
@@ -342,7 +382,7 @@ static void *mountthread(void _U_ *u){
errctr = 0;
pthread_mutex_lock(&datamutex);
// now change data
SSconvstat(status, &mountdata, &tgot);
SSconvstat(status, &mountdata, tgot);
pthread_mutex_unlock(&datamutex);
// allow writing & getters
//DBG("t0=%g, tnow=%g", t0-t00, dtime()-t00);