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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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11
LibSidServo/ssii.h
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@@ -169,7 +169,9 @@
#define SITECH_LOOP_FREQUENCY (1953.)
// steps per revolution
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV (3325952.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV (4394960.)
// maximal speeds in rad/s: 10deg/s by X and 8deg/s by Y
@@ -199,9 +201,12 @@
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (46033555)
#define Y_ENC_ZERO (36674010)
// encoder position to radians and back
#define X_ENC2RAD(n) (2.*M_PI * ((double)n) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) (2.*M_PI * ((double)n) / Y_ENC_STEPSPERREV)
#define X_ENC2RAD(n) (2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) (2.*M_PI * ((double)(n-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
@@ -304,7 +309,7 @@ typedef struct{
} __attribute__((packed)) SSconfig;
uint16_t SScalcChecksum(uint8_t *buf, int len);
void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat);
void SSconvstat(const SSstat *status, mountdata_t *mountdata, double t);
int SStextcmd(const char *cmd, data_t *answer);
int SSrawcmd(const char *cmd, data_t *answer);
int SSgetint(const char *cmd, int64_t *ans);