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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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2
LibSidServo/.qtcreator/libsidservo.creator.user
View File

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.1, 2026-01-21T23:20:23. -->
<!-- Written by QtCreator 18.0.1, 2026-01-22T21:17:18. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

14
LibSidServo/examples/conf.c
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@ -112,3 +112,17 @@ void dumpConf(){
void confHelp(){
sl_conf_showhelp(-1, opts);
}
const char* errcodes[MCC_E_AMOUNT] = {
[MCC_E_OK] = "OK",
[MCC_E_FATAL] = "Fatal error",
[MCC_E_BADFORMAT] = "Wrong data format",
[MCC_E_ENCODERDEV] = "Encoder error",
[MCC_E_MOUNTDEV] = "Mount error",
[MCC_E_FAILED] = "Failed to run"
};
// return string with error code
const char *EcodeStr(mcc_errcodes_t e){
if(e >= MCC_E_AMOUNT) return "Wrong error code";
return errcodes[e];
}

1
LibSidServo/examples/conf.h
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@ -25,3 +25,4 @@
void confHelp();
conf_t *readServoConf(const char *filename);
void dumpConf();
const char *EcodeStr(mcc_errcodes_t e);

10
LibSidServo/examples/goto.c
View File

@ -120,7 +120,11 @@ int main(int _U_ argc, char _U_ **argv){
}
printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
Mount.moveTo(&tag);
mcc_errcodes_t e = Mount.moveTo(&tag);
if(MCC_E_OK != e){
WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
goto out;
}
if(G.wait){
sleep(1);
waitmoving(G.Ncycles);
@ -132,7 +136,9 @@ out:
if(G.coordsoutput) pthread_join(dthr, NULL);
DBG("QUIT");
if(G.wait){
if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
usleep(250000); // pause to refresh coordinates
if(getPos(&M, &E)) printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val),
RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
Mount.quit();
}
return 0;

2
LibSidServo/libsidservo.creator.user
View File

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.1, 2026-01-21T23:20:23. -->
<!-- Written by QtCreator 18.0.1, 2026-01-22T21:17:18. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

26
LibSidServo/main.c
View File

@ -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;

1
LibSidServo/serial.c
View File

@ -678,6 +678,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
int g = write(mntfd, "\r", 1); // add EOL
(void) g;
}
usleep(50000); // add little pause so that the idiot has time to swallow
}
if(!in) return TRUE;
in->len = 0;

1
LibSidServo/sidservo.h
View File

@ -48,6 +48,7 @@ typedef enum{
MCC_E_ENCODERDEV, // encoder device error or can't open
MCC_E_MOUNTDEV, // mount device error or can't open
MCC_E_FAILED, // failed to run command - protocol error
MCC_E_AMOUNT // Just amount of errors
} mcc_errcodes_t;
typedef struct{