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@@ -18,10 +18,12 @@
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#pragma once
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#include <math.h>
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#include <stdint.h>
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#include "sidservo.h"
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#if 0
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// ASCII commands
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#define U8P(x) ((uint8_t*)x)
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// get binary data of all statistics
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@@ -50,26 +52,70 @@
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#define CMD_GETYAEPR U8P("XXZ")
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// exit ASCII checksum mode
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#define CMD_EXITACM U8P("YXY0\r\xb8")
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#endif
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// get binary data of all statistics
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#define CMD_GETSTAT ("XXS")
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// send short command
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#define CMD_SHORTCMD ("XXR")
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// send long command
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#define CMD_LONGCMD ("YXR")
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// get/set X/Y in motsteps
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#define CMD_MOTX ("X")
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#define CMD_MOTY ("Y")
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// -//- in encoders' ticks
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#define CMD_ENCX ("XZ")
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#define CMD_ENCY ("YZ")
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// normal stop X/Y
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#define CMD_STOPX ("XN")
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#define CMD_STOPY ("YN")
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// emergency stop
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#define CMD_EMSTOPX ("XG")
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#define CMD_EMSTOPY ("YG")
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// getters of motor's encoders per rev
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#define CMD_GETXMEPR ("XXU")
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#define CMD_GETYMEPR ("XXV")
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// -//- axis encoders
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#define CMD_GETXAEPR ("XXT")
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#define CMD_GETYAEPR ("XXZ")
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// exit ASCII checksum mode
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#define CMD_EXITACM ("YXY0\r\xb8")
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// timeout (seconds) of reading answer (from last symbol read)
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#define READTIMEOUT (0.05)
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// steps per revolution; TODO: move to Conf
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#define HA_MOT_STEPSPERREV (4394294)
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#define DEC_MOT_STEPSPERREV (3325291)
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// steps per revolution
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#define X_MOT_STEPSPERREV (4394294.)
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#define Y_MOT_STEPSPERREV (3325291.)
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// encoder's tolerance (ticks); TODO: move to Conf
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#define HAENCTOL (25)
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#define DECENCTOL (25)
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// motor position to radians and back
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#define X_MOT2RAD(n) (2.*M_PI * (double)n / X_MOT_STEPSPERREV)
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#define Y_MOT2RAD(n) (2.*M_PI * (double)n / Y_MOT_STEPSPERREV)
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#define X_RAD2MOT(r) ((uint32_t)(r / 2./M_PI * X_MOT_STEPSPERREV))
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#define Y_RAD2MOT(r) ((uint32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV))
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// encoder per revolution
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#define X_ENC_STEPSPERREV (67108863.)
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#define Y_ENC_STEPSPERREV (67108863.)
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// encoder position to radians and back
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#define X_ENC2RAD(n) (2.*M_PI * (double)n / X_ENC_STEPSPERREV)
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#define Y_ENC2RAD(n) (2.*M_PI * (double)n / Y_ENC_STEPSPERREV)
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#define X_RAD2ENC(r) ((uint32_t)(r / 2./M_PI * X_ENC_STEPSPERREV))
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#define Y_RAD2ENC(r) ((uint32_t)(r / 2./M_PI * Y_ENC_STEPSPERREV))
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// encoder's tolerance (ticks)
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#define YencTOL (25.)
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#define XencTOL (25.)
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// all need data in one
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typedef struct{ // 41 bytes
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uint8_t ctrlAddr; // 0 a8 + controller address
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int32_t DECmot; // 1 Dec/HA motor position
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int32_t HAmot; // 5
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int32_t DECenc; // 9 Dec/HA encoder position
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int32_t HAenc; // 13
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int32_t Xmot; // 1 Dec/HA motor position
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int32_t Ymot; // 5
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int32_t Xenc; // 9 Dec/HA encoder position
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int32_t Yenc; // 13
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uint8_t keypad; // 17 keypad status
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uint8_t XBits; // 18
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uint8_t YBits; // 19
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@@ -79,16 +125,16 @@ typedef struct{ // 41 bytes
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uint32_t millis; // 25 milliseconds clock
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int8_t tF; // 29 temperature (degF)
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uint8_t voltage; // 30 input voltage *10 (RA worm phase?)
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uint32_t DecLast; // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change
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uint32_t HALast; // 35 Az/RA motor location at last Az/RA scope encoder location change
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uint32_t XLast; // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change
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uint32_t YLast; // 35 Az/RA motor location at last Az/RA scope encoder location change
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uint16_t checksum; // 39 checksum, H inverted
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}__attribute__((packed)) SSstat;
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typedef struct{
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int32_t DECmot; // 0 DEC motor position
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int32_t DECspeed; // 4 DEC speed
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int32_t HAmot; // 8
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int32_t HAspeed; // 12
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int32_t Xmot; // 0 DEC motor position
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int32_t Xspeed; // 4 DEC speed
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int32_t Ymot; // 8
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int32_t Yspeed; // 12
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uint8_t xychange; // 16 change Xbits/Ybits value
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uint8_t XBits; // 17
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uint8_t YBits; // 18
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@@ -96,18 +142,23 @@ typedef struct{
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} __attribute__((packed)) SSscmd; // short command
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typedef struct{
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int32_t DECmot; // 0 DEC motor position
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int32_t DECspeed; // 4 DEC speed
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int32_t HAmot; // 8
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int32_t HAspeed; // 12
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int32_t DECadder; // 16 - DEC adder
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int32_t HAadder; // 20
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int32_t DECatime; // 24 DEC adder time
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int32_t HAatime; // 28
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int32_t Xmot; // 0 DEC motor position
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int32_t Xspeed; // 4 DEC speed
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int32_t Ymot; // 8
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int32_t Yspeed; // 12
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int32_t Xadder; // 16 - DEC adder
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int32_t Yadder; // 20
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int32_t Xatime; // 24 DEC adder time
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int32_t Yatime; // 28
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uint16_t checksum; // 32
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} __attribute__((packed)) SSlcmd; // long command
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int SScmdS(SSscmd *cmd);
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int SScmdL(SSlcmd *cmd);
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uint16_t SScalcChecksum(uint8_t *buf, int len);
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void SSconvstat(const SSstat *status, mountdata_t *mountdata);
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void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat);
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int SStextcmd(const char *cmd, data_t *answer);
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int SSgetint(const char *cmd, int64_t *ans);
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int SSXmoveto(double pos);
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int SSYmoveto(double pos);
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int SSemergStop();
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