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1st working approach after last changes

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This commit is contained in:
Edward V. Emelianov
2026-01-22 21:18:01 +03:00
parent 873f292a11
commit bccc7a9b29
8 changed files with 43 additions and 14 deletions
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26
LibSidServo/main.c
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@@ -229,7 +229,12 @@ static mcc_errcodes_t init(conf_t *c){
// make a pause for actual encoder's values
double t0 = timefromstart();
while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
return updateMotorPos();
mcc_errcodes_t e = updateMotorPos();
// and refresh data after updating
DBG("Wait for next mount reading");
t0 = timefromstart();
while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
return e;
}
// check coordinates (rad) and speeds (rad/s); return FALSE if failed
@@ -251,7 +256,7 @@ static int chkYs(double s){
return TRUE;
}
// set SLEWING state if axis was stopped later
// set SLEWING state if axis was stopped
static void setslewingstate(){
//FNAME();
mountdata_t d;
@@ -283,10 +288,11 @@ static mcc_errcodes_t move2(const coordpair_t *target){
cmd.Ymot = target->Y;
cmd.Xspeed = Xlimits.max.speed;
cmd.Yspeed = Ylimits.max.speed;
mcc_errcodes_t r = shortcmd(&cmd);
/*mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setslewingstate();
return MCC_E_OK;
return MCC_E_OK;*/
return shortcmd(&cmd);
}
/**
@@ -463,8 +469,8 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
// Copy ticks per revolution
hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
hwConfig->Xmetpr = __bswap_32(config.Xmetpr) / 4; // as documentation said, real ticks are 4 times less
hwConfig->Ymetpr = __bswap_32(config.Ymetpr) / 4;
hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
// Convert slew rates (ticks per loop to rad/s)
hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
@@ -488,9 +494,9 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
DBG("SERIAL");
// motor's encoder ticks per rev
if(!SSgetint(CMD_MEPRX, &i64)) return MCC_E_FAILED;
Xticks = ((double) i64) / 4.; // divide by 4 as these values stored
Xticks = ((double) i64); // divide by 4 as these values stored ???
if(!SSgetint(CMD_MEPRY, &i64)) return MCC_E_FAILED;
Yticks = ((double) i64) / 4.;
Yticks = ((double) i64);
X_ENC_ZERO = Conf.XEncZero;
Y_ENC_ZERO = Conf.YEncZero;
DBG("xyrev: %d/%d", config.xbits.motrev, config.ybits.motrev);
@@ -559,8 +565,8 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4);
config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4);
config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
// todo - also write text params
// TODO - next
(void) config;