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This commit is contained in:
Edward V. Emelianov 2025-02-20 21:59:33 +03:00
parent eba7ac39c9
commit b6161ed03f
7 changed files with 123 additions and 21 deletions
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2
LibSidServo/libsidservo.creator.user
View File

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 15.0.1, 2025-02-19T23:05:54. -->
<!-- Written by QtCreator 15.0.1, 2025-02-20T21:58:21. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

6
LibSidServo/main.c
View File

@ -61,10 +61,14 @@ static mcc_errcodes_t init(conf_t *c){
ret = MCC_E_ENCODERDEV;
}
}
if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.001){
if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
DBG("Bad value of MountReqInterval");
ret = MCC_E_BADFORMAT;
}
char buf[1024];
data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
// read input data as there may be some trash on start
if(!SSrawcmd(CMD_EXITACM, &d)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) quit();
return ret;
}

7
LibSidServo/serial.c
View File

@ -398,6 +398,13 @@ int MountWriteRead(const data_t *out, data_t *in){
pthread_mutex_unlock(&mntmutex);
return ret;
}
// send binary data - without EOL
int MountWriteReadRaw(const data_t *out, data_t *in){
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 0);
pthread_mutex_unlock(&mntmutex);
return ret;
}
#ifdef EBUG
static void logscmd(SSscmd *c){

1
LibSidServo/serial.h
View File

@ -36,5 +36,6 @@ int openMount(const char *path, int speed);
void closeSerial();
mcc_errcodes_t getMD(mountdata_t *d);
int MountWriteRead(const data_t *out, data_t *in);
int MountWriteReadRaw(const data_t *out, data_t *in);
int cmdS(SSscmd *cmd);
int cmdL(SSlcmd *cmd);

4
LibSidServo/sidservo.h
View File

@ -73,6 +73,10 @@ typedef struct{
double voltage;
} mountdata_t;
typedef struct{
;
} mountstat_t;
typedef struct{
double Xmot; // 0 X motor position (rad)
double Xspeed; // 4 X speed (rad/s)

13
LibSidServo/ssii.c
View File

@ -90,6 +90,19 @@ int SStextcmd(const char *cmd, data_t *answer){
return MountWriteRead(&d, answer);
}
// the same as SStextcmd, but not adding EOL - send raw 'cmd'
int SSrawcmd(const char *cmd, data_t *answer){
if(!cmd){
DBG("try to send empty command");
return FALSE;
}
data_t d;
d.buf = (uint8_t*) cmd;
d.len = d.maxlen = strlen(cmd);
DBG("send %zd bytes: %s", d.len, d.buf);
return MountWriteReadRaw(&d, answer);
}
/**
* @brief SSgetint - send text command and return integer answer
* @param cmd (i) - command to send

111
LibSidServo/ssii.h
View File

@ -55,31 +55,80 @@
#endif
// get binary data of all statistics
#define CMD_GETSTAT ("XXS")
#define CMD_GETSTAT "XXS"
// send short command
#define CMD_SHORTCMD ("XXR")
#define CMD_SHORTCMD "XXR"
// send long command
#define CMD_LONGCMD ("YXR")
#define CMD_LONGCMD "YXR"
// get/set X/Y in motsteps
#define CMD_MOTX ("X")
#define CMD_MOTY ("Y")
// -//- in encoders' ticks
#define CMD_ENCX ("XZ")
#define CMD_ENCY ("YZ")
#define CMD_MOTX "X"
#define CMD_MOTY "Y"
// set X/Y position with speed "sprintf(buf, "%s%d%s%d", CMD_MOTx, tagx, CMD_MOTxS, tags)
#define CMD_MOTXS "S"
// reset current motor position to given value (and stop, if moving)
#define CMD_MOTXSET "XF"
#define CMD_MOTYSET "YF"
// acceleration (per each loop, max: 3900)
#define CMD_MOTXACCEL "XR"
#define CMD_MOTYACCEL "YR"
// PID regulator:
// P: 0..32767
#define CMD_PIDPX "XP"
#define CMD_PIDPY "YP"
// I: 0..32767
#define CMD_PIDIX "XI"
#define CMD_PIDIY "YI"
// limit of I (doesn't work): 0:24000 (WTF???)
#define CMD_PIDILX "XL"
#define CMD_PIDILY "YL"
// D: 0..32767
#define CMD_PIDDX "XD"
#define CMD_PIDDY "YD"
// current position error
#define CMD_POSERRX "XE"
#define CMD_POSERRY "YE"
// max position error limit (X: E#, Y: e#)
#define CMD_POSERRLIMX "XEL"
#define CMD_POSERRLIMY "YEL"
// current PWM output: 0..255 (or set max PWM out)
#define CMD_PWMOUTX "XO"
#define CMD_PWMOUTY "YO"
// motor current *100 (or set current limit): 0..240
#define CMD_MOTCURNTX "XC"
#define CMD_MOTCURNTY "YC"
// change axis to Manual mode and set the PWM output: -255:255
#define CMD_MANUALPWMX "XM"
#define CMD_MANUALPWMY "YM"
// change axis to Auto mode
#define CMD_AUTOX "XA"
#define CMD_AUTOY "YA"
// get positioin in encoders' ticks or reset it to given value
#define CMD_ENCX "XZ"
#define CMD_ENCY "YZ"
// get/set speed (geter x: S#, getter y: s#)
#define CMD_SPEEDX "XS"
#define CMD_SPEEDY "YS"
// normal stop X/Y
#define CMD_STOPX ("XN")
#define CMD_STOPY ("YN")
#define CMD_STOPX "XN"
#define CMD_STOPY "YN"
// emergency stop
#define CMD_EMSTOPX ("XG")
#define CMD_EMSTOPY ("YG")
#define CMD_EMSTOPX "XG"
#define CMD_EMSTOPY "YG"
// get/set X/Ybits
#define CMD_BITSX "XB"
#define CMD_BITSY "YB"
// getters of motor's encoders per rev
#define CMD_GETXMEPR ("XXU")
#define CMD_GETYMEPR ("XXV")
#define CMD_GETXMEPR "XXU"
#define CMD_GETYMEPR "XXV"
// -//- axis encoders
#define CMD_GETXAEPR ("XXT")
#define CMD_GETYAEPR ("XXZ")
#define CMD_GETXAEPR "XXT"
#define CMD_GETYAEPR "XXZ"
// exit ASCII checksum mode
#define CMD_EXITACM ("YXY0\r\xb8")
#define CMD_EXITACM "YXY0\r\xb8"
// controller status:
// X# Y# XZ# YZ# XC# YC# V# T# X[AM] Y[AM] K#
// X,Y - motor, XZ,YZ - encoder, XC,YC - current*100, V - voltage*10, T - temp (F), XA,YA - mode (A[uto]/M[anual]), K - handpad status bits
#define CMD_GETSTAT "\r"
// steps per revolution
//#define X_MOT_STEPSPERREV (3325440.)
@ -115,6 +164,29 @@
#define XencTOL (25.)
typedef struct{
uint8_t motrev :1; // If 1, the motor encoder is incremented in the opposite direction
uint8_t motpolarity :1; // If 1, the motor polarity is reversed
uint8_t encrev :1; // If 1, the axis encoder is reversed
uint8_t dragtrack :1; // If 1, we are in computerless Drag and Track mode
uint8_t trackplat :1; // If 1, we are in the tracking platform mode
uint8_t handpaden :1; // If 1, hand paddle is enabled
uint8_t newpad :1; // If 1, hand paddle is compatible with New hand paddle, which allows slewing in two directions and guiding
uint8_t guidemode :1; // If 1, we are in guide mode. The pan rate is added or subtracted from the current tracking rate
} xbits_t;
typedef struct{
uint8_t motrev :1; // If 1, the motor encoder is incremented in the opposite direction
uint8_t motpolarity :1; // If 1, the motor polarity is reversed
uint8_t encrev :1; // If 1, the axis encoder is reversed
/* If 1, we are in computerless Slew and Track mode
(no clutches; use handpad to slew; must be in Drag and Track mode too) */
uint8_t slewtrack :1;
uint8_t digin_sens :1; // Digital input from radio handpad receiver, or RA PEC Sensor sync
uint8_t digin :3; // Digital input from radio handpad receiver
} ybits_t;
// all need data in one
typedef struct{ // 41 bytes
uint8_t ctrlAddr; // 0 a8 + controller address
@ -123,8 +195,8 @@ typedef struct{ // 41 bytes
int32_t Xenc; // 9 Dec/HA encoder position
int32_t Yenc; // 13
uint8_t keypad; // 17 keypad status
uint8_t XBits; // 18
uint8_t YBits; // 19
xbits_t XBits; // 18
ybits_t YBits; // 19
uint8_t ExtraBits; // 20
uint16_t ain0; // 21 analog inputs
uint16_t ain1; // 23
@ -162,6 +234,7 @@ typedef struct{
uint16_t SScalcChecksum(uint8_t *buf, int len);
void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat);
int SStextcmd(const char *cmd, data_t *answer);
int SSrawcmd(const char *cmd, data_t *answer);
int SSgetint(const char *cmd, int64_t *ans);
int SSXmoveto(double pos);
int SSYmoveto(double pos);